yqi19/robolab_motionplanning

RoboLab Motion-Planning Code

This Hugging Face dataset repository is used as a code-only snapshot for RoboLab plus the RoboLab motion-planning baseline. Generated datasets and rendered demos are intentionally not included here.

Included

• robolab/: RoboLab Python package code.
• robolab_mp/: motion-planning baseline, GR00T exporter, geometry helpers, video verifier.
• examples/: CLI entrypoints for running motion planning and exporting GR00T datasets.
• documentation/: how to run and reproduce the verified motion-planning tasks.
• docs/: RoboLab documentation copied from the working tree.
• pyproject.toml, requirements.txt, license and project metadata.

Excluded

• output/: generated demos and datasets.
• assets/: large RoboLab simulation assets; use the full local/project asset checkout when running Isaac tasks.
• .git/, caches, and generated bytecode.

Environment

The verified local environment used here was:

/home/horde/miniconda3/envs/env_uwlab

Run commands from the repository root after restoring/installing the required RoboLab assets:

cd RoboLab

If you have reviewed and accepted the NVIDIA Omniverse EULA, run Isaac headless with:

OMNI_KIT_ACCEPT_EULA=YES

Run Verified Motion Planning

OMNI_KIT_ACCEPT_EULA=YES /home/horde/miniconda3/bin/conda run -n env_uwlab   python examples/run_motion_planning.py   --headless   --task BananaInBowlTask MustardInLeftBinTask   --video-mode all   --output-dir output/mp_grasp_stability_yaw_verified   --max-steps 460   --verify-videos

Expected verified tasks:

• BananaInBowlTask
• MustardInLeftBinTask

Generate GR00T-Format Data

After motion-planning outputs exist:

/home/horde/miniconda3/envs/env_uwlab/bin/python examples/export_motion_planning_gr00t.py   --input output/mp_grasp_stability_yaw_verified   --output output/mp_grasp_stability_yaw_verified_gr00t   --fps 15   --only-successful   --video-key front   --video-key wrist

The exporter writes GR00T-flavored LeRobot v2 data with:

meta/info.json
meta/modality.json
meta/tasks.jsonl
meta/episodes.jsonl
meta/stats.json
meta/relative_stats.json
data/chunk-000/episode_*.parquet
videos/chunk-000/observation.images.front/episode_*.mp4
videos/chunk-000/observation.images.wrist/episode_*.mp4

Documentation

Start with:

• documentation/motion_planning_run.md
• documentation/reproduce_motion_planning_results.md
• docs/motion_planning.md

Notes

This repo is for code only. The generated banana GR00T dataset is uploaded separately to:

https://huggingface.co/datasets/yqi19/robolab_data