pick_maniskill v1

369 scripted Franka Panda episodes of the cathlab pick task ("Hand me the {bottle | vial | syringe}") simulated in ManiSkill3 3.0.1 / SAPIEN 3.0.3 (NVIDIA PhysX 5). Same cathlab_v1 train grid (384 configs, generation order) as Rakeshdharan56/pick_robosuite, so episode configs are paired across physics engines. Only successful expert episodes are kept (369/384 = 96 %).

• I/O panda_libero: action float32[7] = [dpos/0.05 m, drot/0.5 rad (axis-angle, base frame), gripper −1 open/+1 close]; observation.state float32[8] = TCP position, hand axis-angle, [+q_finger1, −q_finger2]; observation.images.{agentview,eye_in_hand} 256×256 RGB; 20 fps; robot_type panda.
• Variation: object/table colours, mass ×[0.7, 1.3], friction [0.5, 1.0], light intensity ×[0.7, 1.3] and 4000–7500 K.
• meta/episodes_extra.jsonl: per-episode EpisodeConfig, instruction, engine versions and git commit.
• Code: https://github.com/Rakeshdharan/vla-cathlab-companion (engines/maniskill, sim/maniskill). Raw npz shards: Rakeshdharan56/pick_maniskill_raw.

from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("Rakeshdharan56/pick_maniskill", revision="v1")