Open_bottle_v4_200

Open_bottle_v4_200: 200 successful sim demos (3 cams 240x240) of the open-bottle v4 task (data_collection/bottle_cap/collect_open_v4.py, ROBOTIS FFW SG2 + CAD grippers in Isaac Lab, 2026-11-08): the left arm picks a 28 oz bottle by its lower end and holds it at a station (lean 0-15 deg), the right hand unscrews the cap in up to 3 x 50 deg strokes (release 140-149 deg); the cap stays in the hand, pops off or falls, and the right hand ends holding the cap. --dr_visual (table look, backdrop, lights, spot lights). Only successful episodes; head + both wrist cameras. Task string: 'open the bottle: hold it by the base with the left hand, unscrew the cap with the right hand'. Collection paused by the user at 300 successes (target 1,000). This is the exact set padiredd/dp-openbottle-v4-visual-dr-200 was trained on (the first 200 successes of the running collection: all finished parts + round-robin from the running parts). Raw collector output: padiredd/Open_bottle_v4_300_raw.

FFW-SG2 (ROBOTIS) in Isaac Lab, 15 fps, 3 cameras (head, left wrist, right wrist) stretched to 240x240, 16-dim actions / 22-dim state in the real datasets' layout. Collected in the cyclo_lab real2sim pipeline (padiredd).

episodes	200
frames	255729
fps	15
LeRobot format	v3.0
cameras	observation.images.rgb.cam_left_wrist, observation.images.rgb.cam_right_wrist, observation.images.rgb.cam_left_head
other features	observation.state, action, timestamp, frame_index, episode_index, index, task_index

Uploaded 2026-11-09 06:35 UTC from the lab server with data_collection/hf_datasets/upload_datasets.py.