Claude/determined cerf 4nkh8v#82
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All Isaac Sim recording now uses SimLeRobotRecorder (GPU tensor buffering + async CPU flush) instead of the frame-by-frame RecordSession pattern. - Add humanoid_il/sim_recorder.py: generic SimLeRobotRecorder (no Isaac Sim deps, accepts numpy or torch, joint_names param, clean save/cancel API, num_episodes/is_complete, fixed __del__) - Delete humanoid_il/sim_session.py (create_sim_record_session removed) - Add [sim] optional dep group to humanoid_il pyproject.toml - Update so101_leader_teleop.py, so101_keyboard_teleop.py, keyboard_teleop.py to use SimLeRobotRecorder with EpisodeFlags/EpisodeKeyboard for S/N/D/Esc - Update capture_record_images() signature: takes cfg dict instead of RecordSession - Reduce lerobot_recorder.py in vial task to a re-export from humanoid_il - Remove duplicated SO101_USD_MAPPING/SO101_JOINT_ORDER from lerobot_interface.py; import SO101_USD_DEG_LIMITS and SO101_LEADER_KEYS from humanoid_il.so101_sim - Add humanoid-il dependency to vial task pyproject.toml https://claude.ai/code/session_01UyRZoXFMTLEgH9e9xd4gAp
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