cyclo-lab-sim-dev-runs-raw

Development / tuning runs: cup-handover program versions v3-v9 (test24, grip50-70, fix1/fix2, final), the 5 CaP cup demos, CaP-vs-planner comparison rollouts, yaw previews; plus every collector log in logs/.

Raw Isaac Lab / Isaac Sim 5.1 collector output for the ROBOTIS FFW SG2 (cyclo_lab real2sim pipeline, padiredd). Kept because it has what the converted LeRobot sets do not: full-resolution video, per-episode randomisation / object metadata and the failed attempts (success: false).

folders	23 (cap_yaw45_preview ... yaw15to45_demo10)
episodes	357 (227 successful)
episodes with video	357
files / size	2,034 / 8.1 GB

Converted LeRobot sets (successes only, cameras stretched to 240x240):

• none (not converted)

Layout

• <folder>/index.json: collector config of that part and its episode list
• <folder>/episode_NNNN/: cam_left_head.mp4, cam_left_wrist.mp4, cam_right_wrist.mp4, meta.json, obs.npz
  • obs.npz (example episode, T steps at 15 fps): timestamp (164,), state (164, 22), action (164, 16), cube_pose (164, 7), tcp_pose (164, 7), tcp_target (164, 7), phase (164,), exec_push (164, 7)
  • meta.json keys: episode, success, arm, cube_init_xy_yaw, cube_settled_pos, cube_lift, gripper_joint1_end, final_phase, table_top_z, program_sha, program_result, params, skills, dr, start_pose, noise, induced_miss, length, fps
• logs/: collector logs
• Cameras: cam_left_head.mp4 (672x376), cam_left_wrist.mp4, cam_right_wrist.mp4 (240x424), H.264.

Uploaded 2026-11-06 02:36 UTC with data_collection/hf_datasets/upload_raw.py.