[DATA-007] DATA-006-20260916T075451Z payload 700/1616
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +4 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/raw-validation.json +12 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/review/post_reset_ego.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/review/post_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/streams/camera_index.parquet +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/streams/contact_sensor.parquet +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/streams/controller_100hz.parquet +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/streams/physics_500hz.parquet +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_06/summary.json +282 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/cameras/ego.mp4 +3 -0
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- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/cameras/observer.mp4 +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/cameras/observer.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/cameras/task_centric.mp4 +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/capture.json +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/manifest.json +289 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/metadata/contact_provenance.json +0 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/metadata/provenance.json +535 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/metadata/task_review.json +0 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/raw-validation.json +12 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/review/post_reset_ego.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/review/post_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/streams/camera_index.parquet +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/streams/contact_sensor.parquet +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/streams/controller_100hz.parquet +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/streams/physics_500hz.parquet +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/summary.json +282 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/cameras/ego.mp4 +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/cameras/ego.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/cameras/observer.mp4 +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/cameras/observer.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/cameras/task_centric.mp4 +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/capture.json +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/manifest.json +289 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/metadata/contact_provenance.json +0 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/metadata/provenance.json +535 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/metadata/task_review.json +0 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/raw-validation.json +12 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/review/post_reset_ego.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/review/post_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/review/terminal_pre_reset_task_centric.png +3 -0
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{
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| 2 |
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"work_id": "DATA-005",
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| 3 |
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"scenario": {
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"id": "demo_06",
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"offset_x_m": 0.01,
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"offset_y_m": 0.0,
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"seed": 42,
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"mode": "demonstration",
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"passed": true,
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"implementation": {
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"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
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"scripts/rambo/collect_push_box_v2.py": "43d4507f79e0935e33a4f332bd69d67d7296d2a016da210f40fd3503646319a1",
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"source/rambo/rambo/tasks/common/push_box_geometry.py": "f707013464f3242e2250f60bea06da0cb5ea00d04ee3f9d5aa57a6ae0b59deaf",
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"source/rambo/rambo/tasks/common/push_box_expert.py": "6e8651fd78a4e6878fb136149e2d5f2a3a51c06a1122fdca7473ef575e8a7c11"
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},
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"profile": {
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"task_profile_version": "push-box-v2-2",
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| 23 |
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"work_id": "DATA-004",
|
| 24 |
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"approval": {
|
| 25 |
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"status": "approved",
|
| 26 |
+
"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 27 |
+
"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 28 |
+
},
|
| 29 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
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| 30 |
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"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
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| 31 |
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"scale": 1,
|
| 32 |
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"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 33 |
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"initial_floor_clearance": 0.02,
|
| 34 |
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"goal_x": [
|
| 35 |
+
0.95,
|
| 36 |
+
1.35
|
| 37 |
+
],
|
| 38 |
+
"goal_y": [
|
| 39 |
+
-0.1,
|
| 40 |
+
0.4
|
| 41 |
+
],
|
| 42 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 43 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 44 |
+
"fall": {
|
| 45 |
+
"base_height_lt": 0.1,
|
| 46 |
+
"projected_gravity_error_gt": 0.75
|
| 47 |
+
},
|
| 48 |
+
"contact": {
|
| 49 |
+
"role": "diagnostic_only",
|
| 50 |
+
"unavailable": "unknown",
|
| 51 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 52 |
+
},
|
| 53 |
+
"observer": {
|
| 54 |
+
"position": [
|
| 55 |
+
1.8,
|
| 56 |
+
2.0,
|
| 57 |
+
1.5
|
| 58 |
+
],
|
| 59 |
+
"look_at": [
|
| 60 |
+
0.65,
|
| 61 |
+
0.1,
|
| 62 |
+
0.2
|
| 63 |
+
],
|
| 64 |
+
"fps": 25,
|
| 65 |
+
"model_input": false
|
| 66 |
+
},
|
| 67 |
+
"policy_rgb_fps": 50,
|
| 68 |
+
"policy_fps": 50,
|
| 69 |
+
"controller_fps": 100,
|
| 70 |
+
"physics_fps": 500,
|
| 71 |
+
"force_zero": true,
|
| 72 |
+
"success_policy_ticks": 3,
|
| 73 |
+
"initial_box_yaw_rad": 0.0,
|
| 74 |
+
"push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
|
| 75 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 76 |
+
"expert": {
|
| 77 |
+
"settle_seconds": 2.1,
|
| 78 |
+
"normal_approach_seconds": 1.0,
|
| 79 |
+
"standoff_m": 0.1,
|
| 80 |
+
"penetration_m": 0.015,
|
| 81 |
+
"align_base_speed": 0.14,
|
| 82 |
+
"push_base_speed": 0.12,
|
| 83 |
+
"face_distance_for_foot_approach": 0.405,
|
| 84 |
+
"approach_foot_x": 0.28,
|
| 85 |
+
"push_foot_x": 0.38
|
| 86 |
+
},
|
| 87 |
+
"initial_face_distance_x": 0.54
|
| 88 |
+
},
|
| 89 |
+
"dataset_episode": true,
|
| 90 |
+
"initial_geometry": {
|
| 91 |
+
"source": {
|
| 92 |
+
"low": [
|
| 93 |
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-0.1421108788345009,
|
| 94 |
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-0.16777700930833817,
|
| 95 |
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-0.08067391440272331
|
| 96 |
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],
|
| 97 |
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"high": [
|
| 98 |
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|
| 99 |
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0.0067610666155815125,
|
| 100 |
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0.1457897126674652
|
| 101 |
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],
|
| 102 |
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"dimensions": [
|
| 103 |
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0.3007632053340785,
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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],
|
| 122 |
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"face": "local_x_min",
|
| 123 |
+
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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| 129 |
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| 131 |
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|
| 133 |
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| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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| 139 |
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| 140 |
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|
| 141 |
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| 142 |
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| 143 |
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| 144 |
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|
| 146 |
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|
| 147 |
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| 154 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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| 168 |
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|
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|
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| 174 |
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|
| 175 |
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|
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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],
|
| 182 |
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"footprint_xy": [
|
| 183 |
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[
|
| 184 |
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|
| 185 |
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| 186 |
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| 187 |
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| 189 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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|
| 195 |
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[
|
| 196 |
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|
| 197 |
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|
| 198 |
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]
|
| 199 |
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],
|
| 200 |
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"projected_box_corners": [
|
| 201 |
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[
|
| 202 |
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0.55,
|
| 203 |
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|
| 204 |
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|
| 205 |
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| 207 |
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|
| 209 |
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| 210 |
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| 211 |
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|
| 212 |
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| 213 |
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| 214 |
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|
| 215 |
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| 216 |
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|
| 217 |
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| 218 |
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| 219 |
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| 221 |
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| 222 |
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| 223 |
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| 225 |
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[
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| 226 |
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| 229 |
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[
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|
| 231 |
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| 232 |
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|
| 233 |
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],
|
| 234 |
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"yaw_rad": 0.0
|
| 235 |
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|
| 236 |
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"box_pose": [
|
| 237 |
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|
| 238 |
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0.2225079713463783,
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| 239 |
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0.10067391440272332,
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|
| 242 |
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|
| 243 |
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|
| 244 |
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],
|
| 245 |
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"robot_config_position": [
|
| 246 |
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0.0,
|
| 247 |
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0.0,
|
| 248 |
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0.3
|
| 249 |
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]
|
| 250 |
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},
|
| 251 |
+
"terminal_before_reset": true,
|
| 252 |
+
"terminal_simulation_time_ns": 9140000000,
|
| 253 |
+
"n_actions": 457,
|
| 254 |
+
"n_boundaries": 458,
|
| 255 |
+
"reset_events": [
|
| 256 |
+
"reset_enter_after_terminal_copy",
|
| 257 |
+
"reset_exit"
|
| 258 |
+
],
|
| 259 |
+
"terminal_vs_reset": {
|
| 260 |
+
"ego": {
|
| 261 |
+
"pre_reset_sha256": "ae1b71aa9c4b8a46ca9678112df95beb8960705e363621b04366e86a0526c747",
|
| 262 |
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"post_reset_sha256": "b3b5b045445e7429c003b04020ef0bf27c4e536c0ff35690c23195ac85ea4b6a",
|
| 263 |
+
"mean_absolute_pixel_difference": 12.30397316261574
|
| 264 |
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},
|
| 265 |
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"task_centric": {
|
| 266 |
+
"pre_reset_sha256": "da52f3824a348f3a2fa86571a4a6a863c079f29f7a4357bd4e8ff6c1b9271d46",
|
| 267 |
+
"post_reset_sha256": "1b1991149c877e1f7adb4181b9a23f8e155126f91cd09b135efa329446d3c059",
|
| 268 |
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"mean_absolute_pixel_difference": 36.020832248263886
|
| 269 |
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}
|
| 270 |
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},
|
| 271 |
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"state_difference_m": 0.5873883962631226,
|
| 272 |
+
"status": "success",
|
| 273 |
+
"physics": {
|
| 274 |
+
"requested_cfg": "isaaclab_physx.physics.physx_manager_cfg.PhysxCfg",
|
| 275 |
+
"actual_manager": "isaaclab_physx.physics.physx_manager.PhysxManager",
|
| 276 |
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"configured_manager": "isaaclab_physx.physics.physx_manager.PhysxManager",
|
| 277 |
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"use_newton_actuators": false,
|
| 278 |
+
"physics_dt_s": 0.002,
|
| 279 |
+
"device": "cuda:0"
|
| 280 |
+
},
|
| 281 |
+
"contact_provenance": "unknown_diagnostic_only"
|
| 282 |
+
}
|
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The diff for this file is too large to render.
See raw diff
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raw/v2/push_box/DATA-005-20260916T055512Z/demo_07/metadata/provenance.json
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@@ -0,0 +1,535 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-005",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"id": "demo_07",
|
| 5 |
+
"offset_x_m": 0.015,
|
| 6 |
+
"offset_y_m": 0.008,
|
| 7 |
+
"seed": 42,
|
| 8 |
+
"yaw_rad": 0.0
|
| 9 |
+
},
|
| 10 |
+
"task_profile": {
|
| 11 |
+
"task_profile_version": "push-box-v2-2",
|
| 12 |
+
"work_id": "DATA-004",
|
| 13 |
+
"approval": {
|
| 14 |
+
"status": "approved",
|
| 15 |
+
"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 16 |
+
"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 17 |
+
},
|
| 18 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 19 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 20 |
+
"scale": 1,
|
| 21 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 22 |
+
"initial_floor_clearance": 0.02,
|
| 23 |
+
"goal_x": [
|
| 24 |
+
0.95,
|
| 25 |
+
1.35
|
| 26 |
+
],
|
| 27 |
+
"goal_y": [
|
| 28 |
+
-0.1,
|
| 29 |
+
0.4
|
| 30 |
+
],
|
| 31 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 32 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 33 |
+
"fall": {
|
| 34 |
+
"base_height_lt": 0.1,
|
| 35 |
+
"projected_gravity_error_gt": 0.75
|
| 36 |
+
},
|
| 37 |
+
"contact": {
|
| 38 |
+
"role": "diagnostic_only",
|
| 39 |
+
"unavailable": "unknown",
|
| 40 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 41 |
+
},
|
| 42 |
+
"observer": {
|
| 43 |
+
"position": [
|
| 44 |
+
1.8,
|
| 45 |
+
2.0,
|
| 46 |
+
1.5
|
| 47 |
+
],
|
| 48 |
+
"look_at": [
|
| 49 |
+
0.65,
|
| 50 |
+
0.1,
|
| 51 |
+
0.2
|
| 52 |
+
],
|
| 53 |
+
"fps": 25,
|
| 54 |
+
"model_input": false
|
| 55 |
+
},
|
| 56 |
+
"policy_rgb_fps": 50,
|
| 57 |
+
"policy_fps": 50,
|
| 58 |
+
"controller_fps": 100,
|
| 59 |
+
"physics_fps": 500,
|
| 60 |
+
"force_zero": true,
|
| 61 |
+
"success_policy_ticks": 3,
|
| 62 |
+
"initial_box_yaw_rad": 0.0,
|
| 63 |
+
"push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
|
| 64 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 65 |
+
"expert": {
|
| 66 |
+
"settle_seconds": 2.1,
|
| 67 |
+
"normal_approach_seconds": 1.0,
|
| 68 |
+
"standoff_m": 0.1,
|
| 69 |
+
"penetration_m": 0.015,
|
| 70 |
+
"align_base_speed": 0.14,
|
| 71 |
+
"push_base_speed": 0.12,
|
| 72 |
+
"face_distance_for_foot_approach": 0.405,
|
| 73 |
+
"approach_foot_x": 0.28,
|
| 74 |
+
"push_foot_x": 0.38
|
| 75 |
+
},
|
| 76 |
+
"initial_face_distance_x": 0.54
|
| 77 |
+
},
|
| 78 |
+
"implementation": {
|
| 79 |
+
"source/rambo/rambo/recording_v2.py": "1f71ffd5429ee5e1a9dfdb5257106b5323611ae0fce7e78ea5d418d049039dc2",
|
| 80 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 81 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "998a74e6a431f2b3c54af1903da8266672d5450b42a26b4da08eb69c1c3bd5d3",
|
| 82 |
+
"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 83 |
+
"scripts/rambo/collect_push_box_v2.py": "43d4507f79e0935e33a4f332bd69d67d7296d2a016da210f40fd3503646319a1",
|
| 84 |
+
"source/rambo/rambo/tasks/common/push_box_geometry.py": "f707013464f3242e2250f60bea06da0cb5ea00d04ee3f9d5aa57a6ae0b59deaf",
|
| 85 |
+
"source/rambo/rambo/tasks/common/push_box_expert.py": "6e8651fd78a4e6878fb136149e2d5f2a3a51c06a1122fdca7473ef575e8a7c11"
|
| 86 |
+
},
|
| 87 |
+
"source_commit": "a9083112f631ecd0db7c66d29cadff87deb2f24c",
|
| 88 |
+
"checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
|
| 89 |
+
"capture_sha256": "5267adb826a70a36a2a8de5ef53b46fbefb285caa2102ecc931b863b786a900f",
|
| 90 |
+
"terminal_gate": {
|
| 91 |
+
"work_id": "DATA-005",
|
| 92 |
+
"scenario": {
|
| 93 |
+
"id": "demo_07",
|
| 94 |
+
"offset_x_m": 0.015,
|
| 95 |
+
"offset_y_m": 0.008,
|
| 96 |
+
"seed": 42,
|
| 97 |
+
"yaw_rad": 0.0
|
| 98 |
+
},
|
| 99 |
+
"mode": "demonstration",
|
| 100 |
+
"passed": true,
|
| 101 |
+
"implementation": {
|
| 102 |
+
"source/rambo/rambo/recording_v2.py": "1f71ffd5429ee5e1a9dfdb5257106b5323611ae0fce7e78ea5d418d049039dc2",
|
| 103 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 104 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "998a74e6a431f2b3c54af1903da8266672d5450b42a26b4da08eb69c1c3bd5d3",
|
| 105 |
+
"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 106 |
+
"scripts/rambo/collect_push_box_v2.py": "43d4507f79e0935e33a4f332bd69d67d7296d2a016da210f40fd3503646319a1",
|
| 107 |
+
"source/rambo/rambo/tasks/common/push_box_geometry.py": "f707013464f3242e2250f60bea06da0cb5ea00d04ee3f9d5aa57a6ae0b59deaf",
|
| 108 |
+
"source/rambo/rambo/tasks/common/push_box_expert.py": "6e8651fd78a4e6878fb136149e2d5f2a3a51c06a1122fdca7473ef575e8a7c11"
|
| 109 |
+
},
|
| 110 |
+
"profile": {
|
| 111 |
+
"task_profile_version": "push-box-v2-2",
|
| 112 |
+
"work_id": "DATA-004",
|
| 113 |
+
"approval": {
|
| 114 |
+
"status": "approved",
|
| 115 |
+
"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 116 |
+
"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 117 |
+
},
|
| 118 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 119 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 120 |
+
"scale": 1,
|
| 121 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 122 |
+
"initial_floor_clearance": 0.02,
|
| 123 |
+
"goal_x": [
|
| 124 |
+
0.95,
|
| 125 |
+
1.35
|
| 126 |
+
],
|
| 127 |
+
"goal_y": [
|
| 128 |
+
-0.1,
|
| 129 |
+
0.4
|
| 130 |
+
],
|
| 131 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 132 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 133 |
+
"fall": {
|
| 134 |
+
"base_height_lt": 0.1,
|
| 135 |
+
"projected_gravity_error_gt": 0.75
|
| 136 |
+
},
|
| 137 |
+
"contact": {
|
| 138 |
+
"role": "diagnostic_only",
|
| 139 |
+
"unavailable": "unknown",
|
| 140 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 141 |
+
},
|
| 142 |
+
"observer": {
|
| 143 |
+
"position": [
|
| 144 |
+
1.8,
|
| 145 |
+
2.0,
|
| 146 |
+
1.5
|
| 147 |
+
],
|
| 148 |
+
"look_at": [
|
| 149 |
+
0.65,
|
| 150 |
+
0.1,
|
| 151 |
+
0.2
|
| 152 |
+
],
|
| 153 |
+
"fps": 25,
|
| 154 |
+
"model_input": false
|
| 155 |
+
},
|
| 156 |
+
"policy_rgb_fps": 50,
|
| 157 |
+
"policy_fps": 50,
|
| 158 |
+
"controller_fps": 100,
|
| 159 |
+
"physics_fps": 500,
|
| 160 |
+
"force_zero": true,
|
| 161 |
+
"success_policy_ticks": 3,
|
| 162 |
+
"initial_box_yaw_rad": 0.0,
|
| 163 |
+
"push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
|
| 164 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 165 |
+
"expert": {
|
| 166 |
+
"settle_seconds": 2.1,
|
| 167 |
+
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| 1 |
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{
|
| 2 |
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"work_id": "DATA-005",
|
| 3 |
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"scenario": {
|
| 4 |
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"id": "demo_07",
|
| 5 |
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|
| 6 |
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"offset_y_m": 0.008,
|
| 7 |
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"seed": 42,
|
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|
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},
|
| 10 |
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"mode": "demonstration",
|
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|
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"implementation": {
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|
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|
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| 21 |
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"profile": {
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| 23 |
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"work_id": "DATA-004",
|
| 24 |
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"approval": {
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| 25 |
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"status": "approved",
|
| 26 |
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"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 27 |
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"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 28 |
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},
|
| 29 |
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"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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| 35 |
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| 36 |
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|
| 37 |
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],
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| 38 |
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"goal_y": [
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| 39 |
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|
| 40 |
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|
| 41 |
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],
|
| 42 |
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"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 43 |
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|
| 44 |
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| 45 |
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|
| 46 |
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|
| 49 |
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"role": "diagnostic_only",
|
| 50 |
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"unavailable": "unknown",
|
| 51 |
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|
| 52 |
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| 53 |
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| 54 |
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"position": [
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| 70 |
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| 71 |
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|
| 72 |
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"success_policy_ticks": 3,
|
| 73 |
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"initial_box_yaw_rad": 0.0,
|
| 74 |
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"push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
|
| 75 |
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"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
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| 76 |
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"expert": {
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| 77 |
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| 78 |
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| 87 |
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|
| 88 |
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},
|
| 89 |
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"source": {
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| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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| 152 |
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| 153 |
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| 154 |
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|
| 155 |
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| 156 |
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|
| 157 |
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| 158 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 268 |
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|
| 269 |
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|
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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| 277 |
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|
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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}
|
| 289 |
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}
|
raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/metadata/contact_provenance.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/metadata/provenance.json
ADDED
|
@@ -0,0 +1,535 @@
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|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-005",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"id": "demo_08",
|
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| 17 |
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raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/metadata/task_review.json
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The diff for this file is too large to render.
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raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/raw-validation.json
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ADDED
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Git LFS Details
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raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/review/terminal_pre_reset_ego.png
ADDED
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Git LFS Details
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raw/v2/push_box/DATA-005-20260916T055512Z/demo_08/review/terminal_pre_reset_task_centric.png
ADDED
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Git LFS Details
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