[DATA-007] DATA-006-20260916T075451Z payload 800/1616
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +5 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/cameras/ego.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/cameras/observer.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/cameras/observer.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/cameras/task_centric.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/capture.json +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/manifest.json +289 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/metadata/contact_provenance.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/metadata/provenance.json +667 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/metadata/task_review.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/raw-validation.json +12 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/review/post_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/review/post_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/streams/camera_index.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/streams/contact_sensor.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/streams/controller_100hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/streams/physics_500hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_11-a2/summary.json +348 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/cameras/ego.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/cameras/ego.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/cameras/observer.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/cameras/observer.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/cameras/task_centric.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/capture.json +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/manifest.json +289 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/metadata/contact_provenance.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/metadata/provenance.json +655 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/metadata/task_review.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/raw-validation.json +12 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/review/post_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/review/post_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/streams/camera_index.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/streams/contact_sensor.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/streams/controller_100hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/streams/physics_500hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/summary.json +342 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_13-a4/cameras/ego.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_13-a4/cameras/ego.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_13-a4/cameras/observer.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_13-a4/cameras/observer.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_13-a4/cameras/task_centric.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_13-a4/cameras/task_centric.partial.encoder.log +0 -0
.gitattributes
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| 1 |
+
{
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| 2 |
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"dataset_schema_version": "wam-quadruped-v2.1.0",
|
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"profile_hash": "905d76c38f7c95a8bad986b945d1535f9ef0668476cc9f825005fc8d4da4603e",
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"diagnostic_only": false,
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"episode_uid": "demo_11-a2",
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"n_actions": 457,
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"n_boundaries": 458,
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"reset_epoch": 0,
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| 9 |
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"streams": {
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| 10 |
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"policy": "streams/policy_50hz.parquet",
|
| 11 |
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"controller": "streams/controller_100hz.parquet",
|
| 12 |
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"physics": "streams/physics_500hz.parquet",
|
| 13 |
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"contact_sensor": "streams/contact_sensor.parquet",
|
| 14 |
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"camera_index": "streams/camera_index.parquet"
|
| 15 |
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},
|
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"stream_sha256": {
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"policy": "ce736c771c9ad856a4e321ee379f41074bf543fe7b33332a638e1353e44cf736",
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"controller": "534596208d6a502f03a9b6732064a02b09578a45b37bed8eae5ff8a8d7a4eec8",
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"physics": "a2d717c85ebd4209ddc326f7d221a33462caa28e5f2456b6261ec8b01180c4e0",
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"contact_sensor": "ae0ae6dacdf418a4b880d43337d84cc014a1884665ada859e327e469d55c73af",
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"camera_index": "526702147c61bbd6c7a4c763c24a62bf3df6b6c1dedd0a0e290aff525d13522a"
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},
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| 23 |
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"videos": {
|
| 24 |
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"observation.images.ego": {
|
| 25 |
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"path": "cameras/ego.mp4",
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"sha256": "2f68c67cb831a50e03143942d9be85faa8b47c00a3479788f8b815ffbcd8f4f2",
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"encoding": {
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"profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b",
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"encoder": "libx264",
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| 30 |
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"crf": 18,
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| 31 |
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"preset": "medium",
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| 32 |
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"gop": 50,
|
| 33 |
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"keyint_min": 50,
|
| 34 |
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"scenecut": 0,
|
| 35 |
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"color_range": "tv",
|
| 36 |
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"command": [
|
| 37 |
+
"/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg",
|
| 38 |
+
"-hide_banner",
|
| 39 |
+
"-loglevel",
|
| 40 |
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"error",
|
| 41 |
+
"-f",
|
| 42 |
+
"rawvideo",
|
| 43 |
+
"-pix_fmt",
|
| 44 |
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"rgb24",
|
| 45 |
+
"-s",
|
| 46 |
+
"1280x720",
|
| 47 |
+
"-framerate",
|
| 48 |
+
"50",
|
| 49 |
+
"-i",
|
| 50 |
+
"pipe:0",
|
| 51 |
+
"-vf",
|
| 52 |
+
"scale=in_range=full:out_range=tv:out_color_matrix=bt709",
|
| 53 |
+
"-c:v",
|
| 54 |
+
"libx264",
|
| 55 |
+
"-threads",
|
| 56 |
+
"2",
|
| 57 |
+
"-crf",
|
| 58 |
+
"18",
|
| 59 |
+
"-preset",
|
| 60 |
+
"medium",
|
| 61 |
+
"-g",
|
| 62 |
+
"50",
|
| 63 |
+
"-keyint_min",
|
| 64 |
+
"50",
|
| 65 |
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"-sc_threshold",
|
| 66 |
+
"0",
|
| 67 |
+
"-pix_fmt",
|
| 68 |
+
"yuv420p",
|
| 69 |
+
"-color_range",
|
| 70 |
+
"tv",
|
| 71 |
+
"-color_primaries",
|
| 72 |
+
"bt709",
|
| 73 |
+
"-color_trc",
|
| 74 |
+
"bt709",
|
| 75 |
+
"-colorspace",
|
| 76 |
+
"bt709",
|
| 77 |
+
"-fps_mode",
|
| 78 |
+
"cfr",
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| 79 |
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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-006-20260916T075451Z/demo_11-a2/metadata/provenance.json
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@@ -0,0 +1,667 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"corner_recovery": false,
|
| 5 |
+
"work_id": "DATA-006",
|
| 6 |
+
"authorization": "data006-expansion-v1",
|
| 7 |
+
"id": "demo_11",
|
| 8 |
+
"asset": "box05",
|
| 9 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 10 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 11 |
+
"yaw_deg": 90,
|
| 12 |
+
"motion": "body_finish",
|
| 13 |
+
"color": "green",
|
| 14 |
+
"goal_color": [
|
| 15 |
+
0.05,
|
| 16 |
+
0.8,
|
| 17 |
+
0.15
|
| 18 |
+
],
|
| 19 |
+
"split": "train",
|
| 20 |
+
"parameters": {
|
| 21 |
+
"attempt": 2,
|
| 22 |
+
"seed": 600611,
|
| 23 |
+
"face_x_m": 0.5461986066460633,
|
| 24 |
+
"center_y_m": 0.15191823647845015,
|
| 25 |
+
"goal_margin_x_m": 0.1432908806949216,
|
| 26 |
+
"goal_margin_y_m": 0.10055780438650073,
|
| 27 |
+
"base_speed_m_s": 0.13279544683186426,
|
| 28 |
+
"foot_x_m": 0.33445465530286295,
|
| 29 |
+
"transition_s": 0.3490581709319911
|
| 30 |
+
},
|
| 31 |
+
"selected_face": "local_y_max"
|
| 32 |
+
},
|
| 33 |
+
"task_profile": {
|
| 34 |
+
"task_profile_version": "push-box-v2-2",
|
| 35 |
+
"work_id": "DATA-006",
|
| 36 |
+
"approval": {
|
| 37 |
+
"status": "approved",
|
| 38 |
+
"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 39 |
+
"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 40 |
+
},
|
| 41 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 42 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 43 |
+
"scale": 1,
|
| 44 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 45 |
+
"initial_floor_clearance": 0.02,
|
| 46 |
+
"goal_x": [
|
| 47 |
+
0.95,
|
| 48 |
+
1.35
|
| 49 |
+
],
|
| 50 |
+
"goal_y": [
|
| 51 |
+
-0.1,
|
| 52 |
+
0.4
|
| 53 |
+
],
|
| 54 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 55 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 56 |
+
"fall": {
|
| 57 |
+
"base_height_lt": 0.1,
|
| 58 |
+
"projected_gravity_error_gt": 0.75
|
| 59 |
+
},
|
| 60 |
+
"contact": {
|
| 61 |
+
"role": "diagnostic_only",
|
| 62 |
+
"unavailable": "unknown",
|
| 63 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 64 |
+
},
|
| 65 |
+
"observer": {
|
| 66 |
+
"position": [
|
| 67 |
+
1.8,
|
| 68 |
+
2.0,
|
| 69 |
+
1.5
|
| 70 |
+
],
|
| 71 |
+
"look_at": [
|
| 72 |
+
0.65,
|
| 73 |
+
0.1,
|
| 74 |
+
0.2
|
| 75 |
+
],
|
| 76 |
+
"fps": 25,
|
| 77 |
+
"model_input": false
|
| 78 |
+
},
|
| 79 |
+
"policy_rgb_fps": 50,
|
| 80 |
+
"policy_fps": 50,
|
| 81 |
+
"controller_fps": 100,
|
| 82 |
+
"physics_fps": 500,
|
| 83 |
+
"force_zero": true,
|
| 84 |
+
"success_policy_ticks": 3,
|
| 85 |
+
"initial_box_yaw_rad": 1.5707963267948966,
|
| 86 |
+
"push_face": "local_y_max",
|
| 87 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 88 |
+
"expert": {
|
| 89 |
+
"settle_seconds": 2.1,
|
| 90 |
+
"normal_approach_seconds": 1.0,
|
| 91 |
+
"standoff_m": 0.1,
|
| 92 |
+
"penetration_m": 0.015,
|
| 93 |
+
"align_base_speed": 0.14,
|
| 94 |
+
"push_base_speed": 0.13279544683186426,
|
| 95 |
+
"face_distance_for_foot_approach": 0.405,
|
| 96 |
+
"approach_foot_x": 0.28,
|
| 97 |
+
"push_foot_x": 0.33445465530286295,
|
| 98 |
+
"motion": "body_finish",
|
| 99 |
+
"transition_s": 0.3490581709319911,
|
| 100 |
+
"leg_finish_max_x": 0.4,
|
| 101 |
+
"lateral_tracking_gain": 2.0,
|
| 102 |
+
"lateral_tracking_limit_m": 0.015,
|
| 103 |
+
"corner_recovery": false
|
| 104 |
+
},
|
| 105 |
+
"initial_face_distance_x": 0.54,
|
| 106 |
+
"goal_color": [
|
| 107 |
+
0.05,
|
| 108 |
+
0.8,
|
| 109 |
+
0.15
|
| 110 |
+
],
|
| 111 |
+
"episode_scenario": {
|
| 112 |
+
"corner_recovery": false,
|
| 113 |
+
"work_id": "DATA-006",
|
| 114 |
+
"authorization": "data006-expansion-v1",
|
| 115 |
+
"id": "demo_11",
|
| 116 |
+
"asset": "box05",
|
| 117 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 118 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 119 |
+
"yaw_deg": 90,
|
| 120 |
+
"motion": "body_finish",
|
| 121 |
+
"color": "green",
|
| 122 |
+
"goal_color": [
|
| 123 |
+
0.05,
|
| 124 |
+
0.8,
|
| 125 |
+
0.15
|
| 126 |
+
],
|
| 127 |
+
"split": "train",
|
| 128 |
+
"parameters": {
|
| 129 |
+
"attempt": 2,
|
| 130 |
+
"seed": 600611,
|
| 131 |
+
"face_x_m": 0.5461986066460633,
|
| 132 |
+
"center_y_m": 0.15191823647845015,
|
| 133 |
+
"goal_margin_x_m": 0.1432908806949216,
|
| 134 |
+
"goal_margin_y_m": 0.10055780438650073,
|
| 135 |
+
"base_speed_m_s": 0.13279544683186426,
|
| 136 |
+
"foot_x_m": 0.33445465530286295,
|
| 137 |
+
"transition_s": 0.3490581709319911
|
| 138 |
+
},
|
| 139 |
+
"selected_face": "local_y_max"
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"implementation": {
|
| 143 |
+
"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
| 144 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 145 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "74edcdce35a7b1fab3a0194953bdd6514d1da08afa50e0657cb8604073c03d32",
|
| 146 |
+
"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 147 |
+
"scripts/rambo/collect_push_box_v2.py": "cfedaa153b1820c46c8e7d5a7fccc450ca7fb775515cf0eb002f86b376ff8c51",
|
| 148 |
+
"source/rambo/rambo/tasks/common/push_box_geometry.py": "188173248ec101e6dcbd637fd862ee5525f7737080ea7abaf6eba166b9bda8cd",
|
| 149 |
+
"source/rambo/rambo/tasks/common/push_box_expert.py": "61229368b96aef03d22efaa0dbebd445e4a9daa96200bcd36498792e1875d212",
|
| 150 |
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"source/rambo/rambo/tasks/common/push_box_scenarios.py": "246eabe3b45d18d8e28abe42ef8ea0aa61d117968e8305f722ba53b0d2ea92fe",
|
| 151 |
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"source/rambo/rambo/tasks/common/push_box_corner_recovery.py": "0a082110a6bb15ab742a679c259eb0bfc7380f251b81b808a4af93e292ab7e1b"
|
| 152 |
+
},
|
| 153 |
+
"source_commit": "a9083112f631ecd0db7c66d29cadff87deb2f24c",
|
| 154 |
+
"checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
|
| 155 |
+
"capture_sha256": "b6378642e1380c1c309c8c1da8e9c0f55e2259b1d63cad68b49243ba8fd3c58b",
|
| 156 |
+
"terminal_gate": {
|
| 157 |
+
"work_id": "DATA-006",
|
| 158 |
+
"scenario": {
|
| 159 |
+
"corner_recovery": false,
|
| 160 |
+
"work_id": "DATA-006",
|
| 161 |
+
"authorization": "data006-expansion-v1",
|
| 162 |
+
"id": "demo_11",
|
| 163 |
+
"asset": "box05",
|
| 164 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 165 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 166 |
+
"yaw_deg": 90,
|
| 167 |
+
"motion": "body_finish",
|
| 168 |
+
"color": "green",
|
| 169 |
+
"goal_color": [
|
| 170 |
+
0.05,
|
| 171 |
+
0.8,
|
| 172 |
+
0.15
|
| 173 |
+
],
|
| 174 |
+
"split": "train",
|
| 175 |
+
"parameters": {
|
| 176 |
+
"attempt": 2,
|
| 177 |
+
"seed": 600611,
|
| 178 |
+
"face_x_m": 0.5461986066460633,
|
| 179 |
+
"center_y_m": 0.15191823647845015,
|
| 180 |
+
"goal_margin_x_m": 0.1432908806949216,
|
| 181 |
+
"goal_margin_y_m": 0.10055780438650073,
|
| 182 |
+
"base_speed_m_s": 0.13279544683186426,
|
| 183 |
+
"foot_x_m": 0.33445465530286295,
|
| 184 |
+
"transition_s": 0.3490581709319911
|
| 185 |
+
},
|
| 186 |
+
"selected_face": "local_y_max"
|
| 187 |
+
},
|
| 188 |
+
"mode": "demonstration",
|
| 189 |
+
"passed": true,
|
| 190 |
+
"implementation": {
|
| 191 |
+
"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
| 192 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 193 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "74edcdce35a7b1fab3a0194953bdd6514d1da08afa50e0657cb8604073c03d32",
|
| 194 |
+
"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 195 |
+
"scripts/rambo/collect_push_box_v2.py": "cfedaa153b1820c46c8e7d5a7fccc450ca7fb775515cf0eb002f86b376ff8c51",
|
| 196 |
+
"source/rambo/rambo/tasks/common/push_box_geometry.py": "188173248ec101e6dcbd637fd862ee5525f7737080ea7abaf6eba166b9bda8cd",
|
| 197 |
+
"source/rambo/rambo/tasks/common/push_box_expert.py": "61229368b96aef03d22efaa0dbebd445e4a9daa96200bcd36498792e1875d212",
|
| 198 |
+
"source/rambo/rambo/tasks/common/push_box_scenarios.py": "246eabe3b45d18d8e28abe42ef8ea0aa61d117968e8305f722ba53b0d2ea92fe",
|
| 199 |
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"sha256": "17cdac72377f09ca2dc9f0b6226d5e45e621b970b8da2c0909e5bac881f88a6b"
|
| 287 |
+
}
|
| 288 |
+
}
|
| 289 |
+
}
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/metadata/contact_provenance.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_12-a1/metadata/provenance.json
ADDED
|
@@ -0,0 +1,655 @@
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|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"work_id": "DATA-006",
|
| 5 |
+
"authorization": "data006-expansion-v1",
|
| 6 |
+
"id": "demo_12",
|
| 7 |
+
"asset": "box05",
|
| 8 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 9 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 10 |
+
"yaw_deg": 180,
|
| 11 |
+
"motion": "coordinated",
|
| 12 |
+
"color": "green",
|
| 13 |
+
"goal_color": [
|
| 14 |
+
0.05,
|
| 15 |
+
0.8,
|
| 16 |
+
0.15
|
| 17 |
+
],
|
| 18 |
+
"split": "train",
|
| 19 |
+
"parameters": {
|
| 20 |
+
"attempt": 1,
|
| 21 |
+
"seed": 600620,
|
| 22 |
+
"face_x_m": 0.5500772305718032,
|
| 23 |
+
"center_y_m": 0.14063034022191348,
|
| 24 |
+
"goal_margin_x_m": 0.13212866623144393,
|
| 25 |
+
"goal_margin_y_m": 0.18592193456269623,
|
| 26 |
+
"base_speed_m_s": 0.12735041433819536,
|
| 27 |
+
"foot_x_m": 0.3713383464213083,
|
| 28 |
+
"transition_s": 0.548272686297102
|
| 29 |
+
},
|
| 30 |
+
"selected_face": "local_x_max"
|
| 31 |
+
},
|
| 32 |
+
"task_profile": {
|
| 33 |
+
"task_profile_version": "push-box-v2-2",
|
| 34 |
+
"work_id": "DATA-006",
|
| 35 |
+
"approval": {
|
| 36 |
+
"status": "approved",
|
| 37 |
+
"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 38 |
+
"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 39 |
+
},
|
| 40 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 41 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 42 |
+
"scale": 1,
|
| 43 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 44 |
+
"initial_floor_clearance": 0.02,
|
| 45 |
+
"goal_x": [
|
| 46 |
+
0.95,
|
| 47 |
+
1.3828918715655223
|
| 48 |
+
],
|
| 49 |
+
"goal_y": [
|
| 50 |
+
-0.1,
|
| 51 |
+
0.4
|
| 52 |
+
],
|
| 53 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 54 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 55 |
+
"fall": {
|
| 56 |
+
"base_height_lt": 0.1,
|
| 57 |
+
"projected_gravity_error_gt": 0.75
|
| 58 |
+
},
|
| 59 |
+
"contact": {
|
| 60 |
+
"role": "diagnostic_only",
|
| 61 |
+
"unavailable": "unknown",
|
| 62 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 63 |
+
},
|
| 64 |
+
"observer": {
|
| 65 |
+
"position": [
|
| 66 |
+
1.8,
|
| 67 |
+
2.0,
|
| 68 |
+
1.5
|
| 69 |
+
],
|
| 70 |
+
"look_at": [
|
| 71 |
+
0.65,
|
| 72 |
+
0.1,
|
| 73 |
+
0.2
|
| 74 |
+
],
|
| 75 |
+
"fps": 25,
|
| 76 |
+
"model_input": false
|
| 77 |
+
},
|
| 78 |
+
"policy_rgb_fps": 50,
|
| 79 |
+
"policy_fps": 50,
|
| 80 |
+
"controller_fps": 100,
|
| 81 |
+
"physics_fps": 500,
|
| 82 |
+
"force_zero": true,
|
| 83 |
+
"success_policy_ticks": 3,
|
| 84 |
+
"initial_box_yaw_rad": 3.141592653589793,
|
| 85 |
+
"push_face": "local_x_max",
|
| 86 |
+
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|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"work_id": "DATA-006",
|
| 5 |
+
"authorization": "data006-expansion-v1",
|
| 6 |
+
"id": "demo_12",
|
| 7 |
+
"asset": "box05",
|
| 8 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 9 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 10 |
+
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|
| 11 |
+
"motion": "coordinated",
|
| 12 |
+
"color": "green",
|
| 13 |
+
"goal_color": [
|
| 14 |
+
0.05,
|
| 15 |
+
0.8,
|
| 16 |
+
0.15
|
| 17 |
+
],
|
| 18 |
+
"split": "train",
|
| 19 |
+
"parameters": {
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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"foot_x_m": 0.3713383464213083,
|
| 28 |
+
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|
| 29 |
+
},
|
| 30 |
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"selected_face": "local_x_max"
|
| 31 |
+
},
|
| 32 |
+
"mode": "demonstration",
|
| 33 |
+
"passed": true,
|
| 34 |
+
"implementation": {
|
| 35 |
+
"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
| 36 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 37 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "378fa3c410b58ffc55dabc9a68911dd39ff724555c2993ae39bfa65284f99054",
|
| 38 |
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"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 39 |
+
"scripts/rambo/collect_push_box_v2.py": "e4a2c5b5b4c35f750ddeb7ea761a9b8691603525cca84cd7c28a0fa1e5279f10",
|
| 40 |
+
"source/rambo/rambo/tasks/common/push_box_geometry.py": "d4b81f41c83461dfd41504abd53f45741dcccf94d88f37bc9e2d2e341402ee5e",
|
| 41 |
+
"source/rambo/rambo/tasks/common/push_box_expert.py": "56a970376d58b6ad07d897ff1a005bd0bc23e8d3d615025177dc4c088c4f2e3f",
|
| 42 |
+
"source/rambo/rambo/tasks/common/push_box_scenarios.py": "6d2e09b2a04604b4241a42776330b1d83a221a3a8ba6d59b7af30afc2419fb97"
|
| 43 |
+
},
|
| 44 |
+
"profile": {
|
| 45 |
+
"task_profile_version": "push-box-v2-2",
|
| 46 |
+
"work_id": "DATA-006",
|
| 47 |
+
"approval": {
|
| 48 |
+
"status": "approved",
|
| 49 |
+
"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 50 |
+
"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 51 |
+
},
|
| 52 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 53 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 54 |
+
"scale": 1,
|
| 55 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 56 |
+
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|
| 57 |
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|
| 58 |
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0.95,
|
| 59 |
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|
| 60 |
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],
|
| 61 |
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|
| 62 |
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-0.1,
|
| 63 |
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0.4
|
| 64 |
+
],
|
| 65 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 66 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 67 |
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"fall": {
|
| 68 |
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|
| 69 |
+
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|
| 70 |
+
},
|
| 71 |
+
"contact": {
|
| 72 |
+
"role": "diagnostic_only",
|
| 73 |
+
"unavailable": "unknown",
|
| 74 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 75 |
+
},
|
| 76 |
+
"observer": {
|
| 77 |
+
"position": [
|
| 78 |
+
1.8,
|
| 79 |
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2.0,
|
| 80 |
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1.5
|
| 81 |
+
],
|
| 82 |
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"look_at": [
|
| 83 |
+
0.65,
|
| 84 |
+
0.1,
|
| 85 |
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0.2
|
| 86 |
+
],
|
| 87 |
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"fps": 25,
|
| 88 |
+
"model_input": false
|
| 89 |
+
},
|
| 90 |
+
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|
| 91 |
+
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|
| 92 |
+
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|
| 93 |
+
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|
| 94 |
+
"force_zero": true,
|
| 95 |
+
"success_policy_ticks": 3,
|
| 96 |
+
"initial_box_yaw_rad": 3.141592653589793,
|
| 97 |
+
"push_face": "local_x_max",
|
| 98 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 99 |
+
"expert": {
|
| 100 |
+
"settle_seconds": 2.1,
|
| 101 |
+
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|
| 102 |
+
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|
| 103 |
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|
| 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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0.05,
|
| 116 |
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0.8,
|
| 117 |
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0.15
|
| 118 |
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],
|
| 119 |
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|
| 120 |
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"work_id": "DATA-006",
|
| 121 |
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"authorization": "data006-expansion-v1",
|
| 122 |
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"id": "demo_12",
|
| 123 |
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"asset": "box05",
|
| 124 |
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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",
|
| 125 |
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"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
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| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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0.05,
|
| 131 |
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0.8,
|
| 132 |
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0.15
|
| 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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|
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|
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|
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|
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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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|
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|
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|
| 225 |
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|
| 226 |
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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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|
| 239 |
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|
| 240 |
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|
| 241 |
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],
|
| 242 |
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|
| 243 |
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[
|
| 244 |
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|
| 245 |
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],
|
| 247 |
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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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]
|
| 259 |
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],
|
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"projected_box_corners": [
|
| 261 |
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[
|
| 262 |
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|
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],
|
| 265 |
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[
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|
| 269 |
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[
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],
|
| 273 |
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],
|
| 277 |
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[
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|
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|
| 280 |
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],
|
| 281 |
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[
|
| 282 |
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|
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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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[
|
| 290 |
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| 309 |
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| 332 |
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| 340 |
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| 342 |
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