pick-cube-topdown-500-raw

The three 500-episode top-down block-pick sets: 25x25 cm board (clean), 25x25 cm with --dr, 20x25 cm with random timing/table texture.

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	3 (pick_cube_topdown_20x25_rt_500 ... pick_cube_topdown_25cm_dr_500)
episodes	1,500 (1,500 successful)
episodes with video	1,500
files / size	7,503 / 10.8 GB

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

• padiredd/pick-cube-topdown-25cm-500-3cam
• padiredd/pick-cube-topdown-25cm-dr-500-3cam
• padiredd/pick-cube-topdown-20x25-rt-500-3cam

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 (178,), state (178, 22), action (178, 16), cube_pose (178, 7), tcp_pose (178, 7), tcp_target (178, 7), phase (178,)
  • meta.json keys: episode, success, arm, cube_init_xy_yaw, cube_settled_pos, grasp_tilt_deg, grasp_azimuth_deg, cube_lift, gripper_joint1_end, final_phase, table_top_z, dr, traj, length, fps, part, part_episode
• logs/: collector logs
• Cameras: cam_left_head.mp4 (672x376), cam_left_wrist.mp4, cam_right_wrist.mp4 (240x424), H.264.

Uploaded 2026-11-06 02:29 UTC with data_collection/hf_datasets/upload_raw.py.