---
license: mit
task_categories: [robotics]
tags: [isaac-lab, simulation, raw, ffw-sg2, cyclo_lab]
---
# Ablation_Block_visual_raw

Visual vs physical DR ablation (data_collection/ablation_vp, 2026-11-07), VISUAL set: code-as-policy block pick, program cap/programs/block_pick_v1_nocomp.py (2k_withoutpush recipe: no pushes, |yaw| 0-45 deg, full region, gripper open/close randomization), seeds 40001-40040, 40 parts x 50 successes, --split_rng. Visual randomization only: table look, backdrop, block colour, dr2 room lights, spot lights (per-episode values in meta.json `dr`). Paired with Ablation_Block_physical_raw by meta.json `pair_key` (seed, batch, env). Part 12 was re-collected after a worker was stopped (logs/abl_visual_p012.killed.log).

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 | 40 (abl_visual_p001 ... abl_visual_p040) |
| episodes | 2,107 (2,000 successful) |
| episodes with video | 2,107 |
| files / size | 10,616 / 18.2 GB |

Converted LeRobot sets (successes only, cameras stretched to 240x240):
- [padiredd/Ablation_Block_visual](https://huggingface.co/datasets/padiredd/Ablation_Block_visual)

## 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` (138,), `state` (138, 22), `action` (138, 16), `cube_pose` (138, 7), `tcp_pose` (138, 7), `tcp_target` (138, 7), `phase` (138,)
  - `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, 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 2026-11-07 04:11 UTC with data_collection/hf_datasets/upload_raw.py.