pick-cube-topdown-region10k-raw

Raw collector output behind padiredd/pick-cube-topdown-region10k-full-dr2-3cam: 11,734 scripted Isaac Lab / Isaac Sim 5.1 episodes (15 fps) of the ROBOTIS FFW SG2 picking a lime-green 5 x 5 x 4 cm block with the left arm, top-down grasp, recorded 2026-11-01 with data_collection/collect.py --dr2 --keep_failed. Kept because it has what the LeRobot set does not: full-resolution video, per-episode randomization / block metadata, and the failed attempts (marked success: false). See the LeRobot set's card for the region and randomization details.

Layout

• region10k_pNNN/ (p001-p100, main run, episodes 0-9,999 of the LeRobot set, seed 10000+N) and region10k_topup_pNNN/ (p001-p018, far-strip top-up, seed 20000+N). Table height -2/-1/0/+1/+2 cm cycles by part.
• <part>/index.json: the collector config of that part and the episode list.
• <part>/episode_NNNN/
  • cam_left_head.mp4 (672x376), cam_left_wrist.mp4, cam_right_wrist.mp4 (240x424, w x h), H.264
  • obs.npz: timestamp (T), state (T x 22 joints), action (T x 16 clean planner targets), cube_pose, tcp_pose, tcp_target (T x 7, pos + quat), phase (T, planner phase id), exec_push (T x 7, push added to the executed arm command)
  • meta.json: success, block initial xy/yaw and settled pose, table top z, lights / spotlights / cameras, start-pose offsets, gripper open/close commands, push schedule
• logs/: collector log of every part.