CoSim

# CoSim Real-Robot Capture Dataset This dataset contains real-robot manipulation recordings for several objects. ## Object captures - Apple (`apple`) - Banana (`banana`) - Cola can (`cola_can`) - Doll (`doll`) - Grape (`grape`) - Mango (`mango`) - Marker (`marker`) - Sprite bottle (`sprite_bottle`) - Strawberry (`strawberry`) - Watermelon (`watermelon`) Each object folder groups episodes by outcome (`touch`, `hit`, or `success`). Episodes are stored as HDF5 files with matching MP4 videos using the same filename stem. ## Additional folders - `align`: robot alignment recordings. - `robot_model_reference`: robot model reference files, including the Panda URDF. - `test`: test recordings, including `test/banana`. - `lossy` and `lossless`: earlier sample captures using the two storage modes.