Add data/sim - 54,064 simulation episodes with sim state (202 GB)
#34
by yi-xdof - opened
Automated S3->HF mirror chunk.
Folders:
- ball_tray_balancing
- conveyor_pick
- count_into_opaque_box
- grab_clutter
- hang_the_mug_on_the_mug_rack
- inhand_transfer_the_item_to_other_side
- lego_blocks_sorting
- load_the_plates_into_the_dish_rack
- multi_drawer_search
- nuts_bolts_sorting
- pouring_beads
- put_relative
- put_the_plastic_bottles_in_the_bin
- set_up_chess_pieces_on_the_board
- spell_abc
- spell_agi
- spell_cat
- spell_dog
- spell_fish
- spell_xdof
- spell_yam
- sweep_away_paper_scraps_from_the_table
- throw_plastic_bottles_in_bin
- turn_the_mug_right_side_up
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yi-xdof changed pull request title from chunk 00: 24 folders, 0.20 TB to Add data/sim - 54,064 simulation episodes with sim state (202 GB)
Adds data/sim/ — 54,064 MuJoCo teleop episodes (24 tasks, ~412 h, 202 GB), 4 files per episode under data/sim/<task>/episode_<uuid7>/:
episode.mcap— standard release format (same topics/schemas asdata/train): native-rate arm state/actions (29.41 Hz; 181.82 Hz on mostpouring_beads), FK end-effector poses (world = left-arm base), 224×168@30 fps top + wrist video,/instruction, and anepisode-metadatarecord with the sim settings (sim_control_hz,sim_physics_dt,sim_nq,sim_time_start_s, …).sim_state.mcap— per-step MuJoCoqpos+sim_timeon/sim_state/qpos(JSON), aligned 1:1 with/left-arm-stateonlog_time, plus asim-qpos-layoutrecord (joint name/type/qposadr/width).scene_assembled.xml— the episode's MuJoCo scene (asset paths relative to the xdof-sim repo).randomization.json— the episode's scene randomization.
Excluded at delivery: episodes with a scene reset inside the recording or a >1 s simulator stall (60), plus 22 that failed structural checks.
Upload verified size-exact against the source: 216,256 / 216,256 files, 0 missing / 0 extra / 0 mismatched.
yi-xdof changed pull request status to open
yi-xdof changed pull request status to closed
Consolidated onto main via linear copy commits (73 batches). Verified on main: 216,256 / 216,256 files size-exact against the source (0 missing / 0 extra / 0 mismatched). data/sim/ is live on main; closing this PR (ref left intact).