isaaclab_ur7e_lerobot_datasets_groot_v21

LeRobot v2.1 exports (per-episode parquet + mp4, meta/modality.json included) for NVIDIA Isaac GR00T N1.x training. One sub-folder per task; each sub-folder is a complete, self-contained LeRobot v2.1 dataset.

sub-folder	task	episodes	frames	source (LeRobot v3.0)
pour_cup_clean/	Grasp the cup, lift it, and pour it out.	150	69,642	DexSteer/isaaclab-ur7e-pour_cup_clean
grasp_pan_clean/	Grasp the frying pan by its handle and place it on the nearest gas burner.	199	64,548	DexSteer/isaaclab-ur7e-grasp_pan_clean
cup_hang/	Lift the hung cup off the holder	200	98,351	DexSteer/isaaclab-ur7e-cup_hang

*_clean = failed episodes (task not completed) were removed before conversion.

• robot: UR7e arm + RH5D hand, Isaac Lab simulation, 50 fps
• observation.state [24]: arm joints 0:6, hand 6:24 | action [19]: arm 0:6, hand 6:19
• cameras: observation.images.third_person (modality video.base), observation.images.eye_in_hand (video.wrist)
• converted with convert_lerobot_v30_to_groot_v21.py; modality config keys: state.{arm,hand}, action.{arm,hand}, video.{base,wrist}, annotation.human.task_description

huggingface-cli download DexSteer/isaaclab_ur7e_lerobot_datasets_groot_v21 --repo-type dataset --include "cup_hang/*" --local-dir ./datasets