200 successful tube-rack insertion episodes from Isaac Sim with a myCobot 320 M5, generated as
the S2 config of the four-way staged regen. S2 is S1b plus full appearance randomization
and nothing else, so S1b vs S2 at equal N measures what appearance DR costs and buys.
Companions: S1 (rotation
only), S1b (+ recovery).
200 episodes, 200/200 success, 17,939 frames, 4.8 GB
63–159 steps per episode… See the full description on the dataset page:
https://huggingface.co/datasets/corvinus-labs/regen_s2_200_seed29700.
