simulation-data

# simulation-data Use this sub-skill when the task is about creating, replaying, visualizing, mirroring, compressing, truncating, or validating simulated ACT++ episode data. ## Typical triggers - "Generate 50 scripted transfer-cube episodes" - "Replay episode_0.hdf5" - "Mirror and compress the insertion dataset" - "Why does sim reset assert on BOX_POSE?" - "What fields are in the episode HDF5 file?" ## What this sub-skill covers - Joint-space and end-effector MuJoCo/DM Control environments. - Scripted transfer-cube and insertion demo generation. - Replaying HDF5 action traces back into simulation. - Rendering videos and qpos plots from HDF5 episodes. - Mirroring, JPEG compression, and truncation of episode files. - Dataset layout and camera-name conventions for sim files. ## What it excludes - Model training and checkpoint management, which belong in [policy-training](../policy-training/SKILL.md). - VINN feature caching and k-selection, which belong in [vinn-offline](../vinn-offline/SKILL.md). - Real-robot alignment, servo diagnostics, and Mobile ALOHA deployment. ## Read these first - [Workflow recipes](references/workflows.md) - [Data format notes](../../references/data-formats.md) - [Simulation troubleshooting](references/troubleshooting.md) ## Run this helper first Before a long rollout, use [check_sim_backend.py](scripts/check_sim_backend.py) to confirm the sim backend can create and reset both environment variants from a chosen checkout.