Data Recording
Use Data Recording to collect robot demonstrations as rosbag2 episodes. After recording, the dataset can be reviewed, edited, merged, converted, or uploaded from Data Tools.
Cyclo Data Workflow
Cyclo Data System Architecture
Cyclo Data is operated from the Web UI. The user records robot demonstrations, reviews the collected episodes, edits the dataset with Data Tools, converts it to LeRobot format, and uploads or downloads datasets and models through Hugging Face.
Robot Preparation
Before recording, make sure the robot operation and camera nodes are running. Cyclo Intelligence records the robot, joint, and camera topics that are already being published on the robot network.
For robot operation and camera setup, follow the AI Worker Teleoperation guide. After the robot is ready, return to this page and check the Camera Views and Topic Monitor.
Home Page
Before opening the Record page, select the robot type from the Home page.
Only robot types with a config file under cyclo_intelligence/shared/shared/robot_configs appear in this list.
Record Page
Use the Record page to collect robot demonstrations as rosbag2 episodes.
| Area | Use it for |
|---|---|
| Camera views | Check the scene and selected image topics before recording. |
| Rosbag Recorder | Enter task information, choose single-task or subtask recording, and start recording. |
| Topic Monitor | Check that required topics are alive. Red status means the topic should be checked before collecting data. |
| 3D viewer | Confirm the selected robot model and general robot state. |
Before recording, check the Camera Views and the Topic Monitor.
The camera views confirm that the robot can see the task scene.
The Topic Monitor confirms that the required robot and camera topics are being received.
Rosbag Recorder Panel
Use the Rosbag Recorder panel to enter the recording information before starting data collection.
| Field | Description |
|---|---|
| Task Num | Task number or identifier for the dataset. |
| Task Name | Short task name used to identify the dataset. |
| Task Instruction | Natural-language instruction that describes the demonstration. |
| Add License | Adds ROBOTIS dataset license information. This does not need to be checked for normal recording. |
| Number of SubTasks | Set this to 0 when the episode does not need subtasks. |
| Sub Task Instruction | Fill this in for each subtask when Number of SubTasks is greater than 0. |
After entering the required information, click Record Start to begin recording.
AI Worker leader button controls
When both hands are needed to operate the wearable skeletal leader device, use the leader buttons to control the recording state.
- Left button press: Cancel the current episode.
- Right button press: Save the current episode.
Recorded Dataset Location
Recorded rosbag2 datasets are stored under /workspace/rosbag2 inside the Cyclo Intelligence container.
Container path:
/workspace/rosbag2/<dataset_name>/<episode_index>/
Host path:
$HOME/cyclo_intelligence/docker/workspace/rosbag2/<dataset_name>/<episode_index>/
Example:
/workspace/rosbag2/Task_000081_RecycleBlackPlasticCup_MCAP/0/
Each episode folder contains the recorded MCAP file, task metadata, camera videos, timestamp files, and camera calibration snapshots.
| File or folder | Purpose |
|---|---|
metadata.yaml | rosbag2 metadata for the recorded episode. |
episode_info.json | Task information and recording details. |
*.mcap | Recorded ROS 2 data. |
videos/ | Camera videos and per-camera timestamp files. |
camera_info/ | Camera calibration files captured with the episode. |