Open_bottle_v4_300_raw

Raw collector output (per-episode mp4 + obs.npz + meta.json, index.json per part; parts openbottle_v4_p001 ... openbottle_v4_p041, single-env parts, successes only) 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).

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	38 (openbottle_v4_p001 ... openbottle_v4_p041)
episodes	300 (300 successful)
episodes with video	300
files / size	1,579 / 18.2 GB

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

• padiredd/Open_bottle_v4_300
• padiredd/Open_bottle_v4_200

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 (1255,), state (1255, 22), action (1255, 16), obj_pose (1255, 7), cap_pose (1255, 7), screw (1255, 3), tcp_pose (1255, 7), tcp_target (1255, 7), phase (1255,), tcp_pose_r (1255, 7), tcp_target_r (1255, 7), phase_r (1255,), arm_clearance (1255,), cap_free_pose (1255, 7), fall (1255,)
  • meta.json keys: episode, success, status, fps, bottle_init_xy_yaw, cap_torque, release_deg, tail_deg, tilt_deg, tilt_az_deg, tilt_deg_achieved, station_xyh, station_used_xyz, psi0_deg, cap_turn_deg, cap_rise_m, cap_released, strokes_deg, hand_strokes_deg, hand_turn_deg, gripper_l_end, gripper_r_end, table_top_z, ticks, log, pick, fall, params, dr, arm_clearance, length
• logs/: collector logs
• Cameras: cam_left_head.mp4 (672x376), cam_left_wrist.mp4, cam_right_wrist.mp4 (240x424), H.264.

Uploaded 2026-11-09 06:37 UTC with data_collection/hf_datasets/upload_raw.py.