flexiv_flip_yellow_wrench

Isaac Sim teleop demonstrations of a Flexiv Rizon4 flipping a yellow block against a cube. Built for ForceVLA: the TCP wrench is part of the observation.

• 85 episodes / 52193 frames, fps 20
• observation.state (12,) = [x, y, z, ax, ay, az, Fx, Fy, Fz, Tx, Ty, Tz] position in metres (robot base frame), axis-angle in radians, wrench in the TCP frame (ES ext_wrench_in_tcp), N and N.m
• action (6,) = [x, y, z, ax, ay, az] — the teleop command mapped into the follower's TCP frame, not the next measured pose
• observation.image / observation.wrist_image — 400x225 native, letterboxed to 224 at train time
• No gripper: this task never actuates it.

Rotation vectors are canonicalised against a fixed reference axis so the pi-branch ambiguity (a rotation of pi about +a equals pi about -a) cannot flip the sign between frames. The serving client must apply the same canonicalisation.

Generated by openpi_forte/data_process/convertion/1arm_2cam_wrench_sim.py.