Cup_visual_wide_1_raw

Raw collector output of one 2k chunk of the 10k collection (vw10k_p001 ... vw10k_p144, 24 envs per part, failures included; the LeRobot chunk Cup_visual_wide_1 keeps the first 2,000 successes in part order) of the bimanual cup-to-basket handover, the cup DR ablation's VISUAL recipe unchanged (data_collection/cup_basket/ablation_vp, padiredd/Ablation_Cup_visual: v6 program cup_handover_v6.py, right close recorded 0.70 / executed 0.50, cup-safe gripper randomization, visual randomization: table look, backdrop, cup colour, dr2 room lights, 0-3 spot lights) EXCEPT a wider placement (data_collection/cup_basket/visual10k_wide, 2026-11-08): cup centre x 0.36-0.58, y 0.00-0.42 m; basket centre x 0.40-0.55, y -0.60..-0.28 m, yaw +-10 deg (ablation: cup 0.44-0.58 / 0.10-0.30, basket 0.40-0.54 / -0.52..-0.36). Seeds 100000 + part.

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	144 (vw10k_p001 ... vw10k_p144)
episodes	3,456 (2,003 successful)
episodes with video	3,456
files / size	17,569 / 92.4 GB

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

• padiredd/Cup_visual_wide_1

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 (137,), state (137, 22), action (137, 16), obj_pose (137, 7), tray_pose (137, 7), tcp_pose (137, 7), tcp_target (137, 7), phase (137,), tcp_pose_r (137, 7), tcp_target_r (137, 7), phase_r (137,), arm_clearance (137,)
  • meta.json keys: episode, success, status, cup_init_xy_yaw, tray_init_xy_yaw, cup_end_in_tray_frame, cup_tilt_deg, cup_bottom_z, cup_speed, gripper_l_end, gripper_r_end, final_tags, table_top_z, program_sha, program_result, params, skills, dr, arm_clearance, start_pose, gripper_rand, pair_key, length, fps
• logs/: collector logs
• Cameras: cam_left_head.mp4 (672x376), cam_left_wrist.mp4, cam_right_wrist.mp4 (240x424), H.264.

Uploaded 2026-11-08 20:17 UTC with data_collection/hf_datasets/upload_raw.py.