[DATA-007] DATA-006-20260916T075451Z payload 1100/1616
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-006-20260916T075451Z/demo_24-a1/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/streams/camera_index.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/streams/contact_sensor.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/streams/controller_100hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/streams/physics_500hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/summary.json +344 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/ego.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/ego.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/observer.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/observer.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/task_centric.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/capture.json +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/manifest.json +289 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/metadata/contact_provenance.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/metadata/provenance.json +667 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/metadata/task_review.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/raw-validation.json +12 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/review/post_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/review/post_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/streams/camera_index.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/streams/contact_sensor.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/streams/controller_100hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/streams/physics_500hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/summary.json +348 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/ego.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/ego.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/observer.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/observer.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/task_centric.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/capture.json +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/manifest.json +289 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/metadata/contact_provenance.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/metadata/provenance.json +659 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/metadata/task_review.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/raw-validation.json +12 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/review/post_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/review/post_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/streams/camera_index.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/streams/contact_sensor.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/streams/controller_100hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/streams/physics_500hz.parquet +3 -0
.gitattributes
CHANGED
|
@@ -83,3 +83,7 @@ raw/v2/push_box/DATA-006-20260916T075451Z/demo_21-a1/capture.json filter=lfs dif
|
|
| 83 |
raw/v2/push_box/DATA-006-20260916T075451Z/demo_22-a1/capture.json filter=lfs diff=lfs merge=lfs -text
|
| 84 |
raw/v2/push_box/DATA-006-20260916T075451Z/demo_23-a1/capture.json filter=lfs diff=lfs merge=lfs -text
|
| 85 |
raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/capture.json filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 83 |
raw/v2/push_box/DATA-006-20260916T075451Z/demo_22-a1/capture.json filter=lfs diff=lfs merge=lfs -text
|
| 84 |
raw/v2/push_box/DATA-006-20260916T075451Z/demo_23-a1/capture.json filter=lfs diff=lfs merge=lfs -text
|
| 85 |
raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/capture.json filter=lfs diff=lfs merge=lfs -text
|
| 86 |
+
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/capture.json filter=lfs diff=lfs merge=lfs -text
|
| 87 |
+
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/capture.json filter=lfs diff=lfs merge=lfs -text
|
| 88 |
+
raw/v2/push_box/DATA-006-20260916T075451Z/demo_27-a1/capture.json filter=lfs diff=lfs merge=lfs -text
|
| 89 |
+
raw/v2/push_box/DATA-006-20260916T075451Z/demo_28-a1/capture.json filter=lfs diff=lfs merge=lfs -text
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/review/terminal_pre_reset_task_centric.png
ADDED
|
Git LFS Details
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/streams/camera_index.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b8ed6598f52e1269f5e28ea9c8ce02c4f47abd1b38893b08e50bd9106c91ae7d
|
| 3 |
+
size 11770
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/streams/contact_sensor.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d5a4cbcf923e67073a300fb1b5426afa23d930752a41b7ce33a87c289c184973
|
| 3 |
+
size 67777
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/streams/controller_100hz.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:26d5373ba1f39ea3c8145afb97b07b276d266d5201e3e141990e6ce76cf59fbd
|
| 3 |
+
size 320111
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/streams/physics_500hz.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e7399682cde386f01777433e8be4c3a6e3e8d7bbaa6270333cf8e52de65fa689
|
| 3 |
+
size 1748046
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/streams/policy_50hz.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5f63802752efd2614c1810e0ef4f8b909b065968233f2422fe00ef7f5a4a38bd
|
| 3 |
+
size 180880
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_24-a1/summary.json
ADDED
|
@@ -0,0 +1,344 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"work_id": "DATA-006",
|
| 5 |
+
"authorization": "data006-expansion-v1",
|
| 6 |
+
"id": "demo_24",
|
| 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": "validation",
|
| 19 |
+
"parameters": {
|
| 20 |
+
"attempt": 1,
|
| 21 |
+
"seed": 600740,
|
| 22 |
+
"face_x_m": 0.5248197114708802,
|
| 23 |
+
"center_y_m": 0.13499650300347987,
|
| 24 |
+
"goal_margin_x_m": 0.12338920349782397,
|
| 25 |
+
"goal_margin_y_m": 0.13596429457395065,
|
| 26 |
+
"base_speed_m_s": 0.1368911696716689,
|
| 27 |
+
"foot_x_m": 0.36630688168578707,
|
| 28 |
+
"transition_s": 0.3583596797395078
|
| 29 |
+
},
|
| 30 |
+
"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": "552ebed6140828cadb62353d3b453a4e2e18d8b44a10e0728cbe3f1a462eb239",
|
| 38 |
+
"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 39 |
+
"scripts/rambo/collect_push_box_v2.py": "a371b191e8af2b610724a176adff93081b370e5e49bcf6d16e90546d0df031b6",
|
| 40 |
+
"source/rambo/rambo/tasks/common/push_box_geometry.py": "188173248ec101e6dcbd637fd862ee5525f7737080ea7abaf6eba166b9bda8cd",
|
| 41 |
+
"source/rambo/rambo/tasks/common/push_box_expert.py": "d9dd98951cff88ae17c7fc75be08c082a00f6a69ba5a968792dd5d6d52d0bcbf",
|
| 42 |
+
"source/rambo/rambo/tasks/common/push_box_scenarios.py": "944c8150ed9a574705c03be33fda8ac0fcab709e6d5f779488b7a7411ff23e5f"
|
| 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 |
+
"initial_floor_clearance": 0.02,
|
| 57 |
+
"goal_x": [
|
| 58 |
+
0.95,
|
| 59 |
+
1.3741524088319024
|
| 60 |
+
],
|
| 61 |
+
"goal_y": [
|
| 62 |
+
-0.1,
|
| 63 |
+
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 |
+
"fall": {
|
| 68 |
+
"base_height_lt": 0.1,
|
| 69 |
+
"projected_gravity_error_gt": 0.75
|
| 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 |
+
2.0,
|
| 80 |
+
1.5
|
| 81 |
+
],
|
| 82 |
+
"look_at": [
|
| 83 |
+
0.65,
|
| 84 |
+
0.1,
|
| 85 |
+
0.2
|
| 86 |
+
],
|
| 87 |
+
"fps": 25,
|
| 88 |
+
"model_input": false
|
| 89 |
+
},
|
| 90 |
+
"policy_rgb_fps": 50,
|
| 91 |
+
"policy_fps": 50,
|
| 92 |
+
"controller_fps": 100,
|
| 93 |
+
"physics_fps": 500,
|
| 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 |
+
"normal_approach_seconds": 1.0,
|
| 102 |
+
"standoff_m": 0.1,
|
| 103 |
+
"penetration_m": 0.015,
|
| 104 |
+
"align_base_speed": 0.14,
|
| 105 |
+
"push_base_speed": 0.1368911696716689,
|
| 106 |
+
"face_distance_for_foot_approach": 0.405,
|
| 107 |
+
"approach_foot_x": 0.28,
|
| 108 |
+
"push_foot_x": 0.36630688168578707,
|
| 109 |
+
"motion": "coordinated",
|
| 110 |
+
"transition_s": 0.3583596797395078,
|
| 111 |
+
"leg_finish_max_x": 0.4,
|
| 112 |
+
"lateral_tracking_gain": 2.0,
|
| 113 |
+
"lateral_tracking_limit_m": 0.015
|
| 114 |
+
},
|
| 115 |
+
"initial_face_distance_x": 0.54,
|
| 116 |
+
"goal_color": [
|
| 117 |
+
0.05,
|
| 118 |
+
0.8,
|
| 119 |
+
0.15
|
| 120 |
+
],
|
| 121 |
+
"episode_scenario": {
|
| 122 |
+
"work_id": "DATA-006",
|
| 123 |
+
"authorization": "data006-expansion-v1",
|
| 124 |
+
"id": "demo_24",
|
| 125 |
+
"asset": "box05",
|
| 126 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 127 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 128 |
+
"yaw_deg": 180,
|
| 129 |
+
"motion": "coordinated",
|
| 130 |
+
"color": "green",
|
| 131 |
+
"goal_color": [
|
| 132 |
+
0.05,
|
| 133 |
+
0.8,
|
| 134 |
+
0.15
|
| 135 |
+
],
|
| 136 |
+
"split": "validation",
|
| 137 |
+
"parameters": {
|
| 138 |
+
"attempt": 1,
|
| 139 |
+
"seed": 600740,
|
| 140 |
+
"face_x_m": 0.5248197114708802,
|
| 141 |
+
"center_y_m": 0.13499650300347987,
|
| 142 |
+
"goal_margin_x_m": 0.12338920349782397,
|
| 143 |
+
"goal_margin_y_m": 0.13596429457395065,
|
| 144 |
+
"base_speed_m_s": 0.1368911696716689,
|
| 145 |
+
"foot_x_m": 0.36630688168578707,
|
| 146 |
+
"transition_s": 0.3583596797395078
|
| 147 |
+
},
|
| 148 |
+
"selected_face": "local_x_max"
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"dataset_episode": true,
|
| 152 |
+
"initial_geometry": {
|
| 153 |
+
"source": {
|
| 154 |
+
"low": [
|
| 155 |
+
-0.1421108788345009,
|
| 156 |
+
-0.16777700930833817,
|
| 157 |
+
-0.08067391440272331
|
| 158 |
+
],
|
| 159 |
+
"high": [
|
| 160 |
+
0.1586523264995776,
|
| 161 |
+
0.0067610666155815125,
|
| 162 |
+
0.1457897126674652
|
| 163 |
+
],
|
| 164 |
+
"dimensions": [
|
| 165 |
+
0.3007632053340785,
|
| 166 |
+
0.17453807592391968,
|
| 167 |
+
0.22646362707018852
|
| 168 |
+
],
|
| 169 |
+
"center": [
|
| 170 |
+
0.008270723832538351,
|
| 171 |
+
-0.08050797134637833,
|
| 172 |
+
0.03255789913237095
|
| 173 |
+
],
|
| 174 |
+
"face_center": [
|
| 175 |
+
0.1586523264995776,
|
| 176 |
+
-0.08050797134637833,
|
| 177 |
+
0.03255789913237095
|
| 178 |
+
],
|
| 179 |
+
"face_normal": [
|
| 180 |
+
1.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.0
|
| 183 |
+
],
|
| 184 |
+
"face": "local_x_max",
|
| 185 |
+
"corners": [
|
| 186 |
+
[
|
| 187 |
+
-0.1421108788345009,
|
| 188 |
+
-0.16777700930833817,
|
| 189 |
+
-0.08067391440272331
|
| 190 |
+
],
|
| 191 |
+
[
|
| 192 |
+
-0.1421108788345009,
|
| 193 |
+
-0.16777700930833817,
|
| 194 |
+
0.1457897126674652
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
-0.1421108788345009,
|
| 198 |
+
0.0067610666155815125,
|
| 199 |
+
-0.08067391440272331
|
| 200 |
+
],
|
| 201 |
+
[
|
| 202 |
+
-0.1421108788345009,
|
| 203 |
+
0.0067610666155815125,
|
| 204 |
+
0.1457897126674652
|
| 205 |
+
],
|
| 206 |
+
[
|
| 207 |
+
0.1586523264995776,
|
| 208 |
+
-0.16777700930833817,
|
| 209 |
+
-0.08067391440272331
|
| 210 |
+
],
|
| 211 |
+
[
|
| 212 |
+
0.1586523264995776,
|
| 213 |
+
-0.16777700930833817,
|
| 214 |
+
0.1457897126674652
|
| 215 |
+
],
|
| 216 |
+
[
|
| 217 |
+
0.1586523264995776,
|
| 218 |
+
0.0067610666155815125,
|
| 219 |
+
-0.08067391440272331
|
| 220 |
+
],
|
| 221 |
+
[
|
| 222 |
+
0.1586523264995776,
|
| 223 |
+
0.0067610666155815125,
|
| 224 |
+
0.1457897126674652
|
| 225 |
+
]
|
| 226 |
+
]
|
| 227 |
+
},
|
| 228 |
+
"world": {
|
| 229 |
+
"center": [
|
| 230 |
+
0.6752013141379195,
|
| 231 |
+
0.13499650300347987,
|
| 232 |
+
0.13323181353509428
|
| 233 |
+
],
|
| 234 |
+
"face_center": [
|
| 235 |
+
0.5248197114708802,
|
| 236 |
+
0.13499650300347987,
|
| 237 |
+
0.13323181353509428
|
| 238 |
+
],
|
| 239 |
+
"face_normal": [
|
| 240 |
+
-1.0,
|
| 241 |
+
1.2246467991473532e-16,
|
| 242 |
+
0.0
|
| 243 |
+
],
|
| 244 |
+
"footprint_xy": [
|
| 245 |
+
[
|
| 246 |
+
0.5248197114708802,
|
| 247 |
+
0.04772746504152002
|
| 248 |
+
],
|
| 249 |
+
[
|
| 250 |
+
0.8255829168049588,
|
| 251 |
+
0.04772746504152002
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
0.8255829168049588,
|
| 255 |
+
0.22226554096543974
|
| 256 |
+
],
|
| 257 |
+
[
|
| 258 |
+
0.5248197114708802,
|
| 259 |
+
0.22226554096543974
|
| 260 |
+
]
|
| 261 |
+
],
|
| 262 |
+
"projected_box_corners": [
|
| 263 |
+
[
|
| 264 |
+
0.8255829168049588,
|
| 265 |
+
0.22226554096543968
|
| 266 |
+
],
|
| 267 |
+
[
|
| 268 |
+
0.8255829168049588,
|
| 269 |
+
0.22226554096543968
|
| 270 |
+
],
|
| 271 |
+
[
|
| 272 |
+
0.8255829168049588,
|
| 273 |
+
0.04772746504152002
|
| 274 |
+
],
|
| 275 |
+
[
|
| 276 |
+
0.8255829168049588,
|
| 277 |
+
0.04772746504152002
|
| 278 |
+
],
|
| 279 |
+
[
|
| 280 |
+
0.5248197114708802,
|
| 281 |
+
0.22226554096543974
|
| 282 |
+
],
|
| 283 |
+
[
|
| 284 |
+
0.5248197114708802,
|
| 285 |
+
0.22226554096543974
|
| 286 |
+
],
|
| 287 |
+
[
|
| 288 |
+
0.5248197114708802,
|
| 289 |
+
0.047727465041520055
|
| 290 |
+
],
|
| 291 |
+
[
|
| 292 |
+
0.5248197114708802,
|
| 293 |
+
0.047727465041520055
|
| 294 |
+
]
|
| 295 |
+
],
|
| 296 |
+
"yaw_rad": 3.141592653589793
|
| 297 |
+
},
|
| 298 |
+
"box_pose": [
|
| 299 |
+
0.6834720379704579,
|
| 300 |
+
0.05448853165710155,
|
| 301 |
+
0.10067391440272332,
|
| 302 |
+
0.0,
|
| 303 |
+
0.0,
|
| 304 |
+
1.0,
|
| 305 |
+
6.123233995736766e-17
|
| 306 |
+
],
|
| 307 |
+
"robot_config_position": [
|
| 308 |
+
0.0,
|
| 309 |
+
0.0,
|
| 310 |
+
0.3
|
| 311 |
+
]
|
| 312 |
+
},
|
| 313 |
+
"terminal_before_reset": true,
|
| 314 |
+
"terminal_simulation_time_ns": 8840000000,
|
| 315 |
+
"n_actions": 442,
|
| 316 |
+
"n_boundaries": 443,
|
| 317 |
+
"reset_events": [
|
| 318 |
+
"reset_enter_after_terminal_copy",
|
| 319 |
+
"reset_exit"
|
| 320 |
+
],
|
| 321 |
+
"terminal_vs_reset": {
|
| 322 |
+
"ego": {
|
| 323 |
+
"pre_reset_sha256": "52d9cefba84b51b440dc756f03778966abda1fa682c4ae42c195fde1b79e1690",
|
| 324 |
+
"post_reset_sha256": "1dc169662811de5e7596e3f83bc2037b426f27b84bf675b85764083947a16d9d",
|
| 325 |
+
"mean_absolute_pixel_difference": 11.83705222800926
|
| 326 |
+
},
|
| 327 |
+
"task_centric": {
|
| 328 |
+
"pre_reset_sha256": "36f9afca9d9990ca74ada7d385792540caa65dc3c94e8a1faa9e712e172db3bd",
|
| 329 |
+
"post_reset_sha256": "8588bcbd9f0ebfe11180c65dcedf43326bfd14fb14b3b64b803f1e4405670d11",
|
| 330 |
+
"mean_absolute_pixel_difference": 32.74337384259259
|
| 331 |
+
}
|
| 332 |
+
},
|
| 333 |
+
"state_difference_m": 0.6025500893592834,
|
| 334 |
+
"status": "success",
|
| 335 |
+
"physics": {
|
| 336 |
+
"requested_cfg": "isaaclab_physx.physics.physx_manager_cfg.PhysxCfg",
|
| 337 |
+
"actual_manager": "isaaclab_physx.physics.physx_manager.PhysxManager",
|
| 338 |
+
"configured_manager": "isaaclab_physx.physics.physx_manager.PhysxManager",
|
| 339 |
+
"use_newton_actuators": false,
|
| 340 |
+
"physics_dt_s": 0.002,
|
| 341 |
+
"device": "cuda:0"
|
| 342 |
+
},
|
| 343 |
+
"contact_provenance": "unknown_diagnostic_only"
|
| 344 |
+
}
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/ego.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:20c07167af52123efe0b74341dc0621b6f6e6d40e927cf8d43f42850bbc76a5b
|
| 3 |
+
size 3646804
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/ego.partial.encoder.log
ADDED
|
File without changes
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/observer.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f3d15ca4dc6c6c442480bc3db8d424a1460ff73f2b2352366f642517944ff3ed
|
| 3 |
+
size 1418033
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/observer.partial.encoder.log
ADDED
|
File without changes
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/task_centric.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:003515af7028af4d057a4985cb942fc4821f65d9b3aa5b7071e19a5c3d538e98
|
| 3 |
+
size 5006765
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/task_centric.partial.encoder.log
ADDED
|
File without changes
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/capture.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:70c94351b15c8a8cd6655eb9b0b7ccb5b7b349216b053f84777a792d11d5154f
|
| 3 |
+
size 30993592
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/manifest.json
ADDED
|
@@ -0,0 +1,289 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset_schema_version": "wam-quadruped-v2.1.0",
|
| 3 |
+
"profile_hash": "905d76c38f7c95a8bad986b945d1535f9ef0668476cc9f825005fc8d4da4603e",
|
| 4 |
+
"diagnostic_only": false,
|
| 5 |
+
"episode_uid": "demo_25-a4",
|
| 6 |
+
"n_actions": 721,
|
| 7 |
+
"n_boundaries": 722,
|
| 8 |
+
"reset_epoch": 0,
|
| 9 |
+
"streams": {
|
| 10 |
+
"policy": "streams/policy_50hz.parquet",
|
| 11 |
+
"controller": "streams/controller_100hz.parquet",
|
| 12 |
+
"physics": "streams/physics_500hz.parquet",
|
| 13 |
+
"contact_sensor": "streams/contact_sensor.parquet",
|
| 14 |
+
"camera_index": "streams/camera_index.parquet"
|
| 15 |
+
},
|
| 16 |
+
"stream_sha256": {
|
| 17 |
+
"policy": "08cce3f955356a025fcb5b4b9b4141e297c8dae3b6a039d693a1ef49a79fd982",
|
| 18 |
+
"controller": "b0ee2e4479de034ad9f84365473e8eac501f57ab1fb52901f4aed97384120fee",
|
| 19 |
+
"physics": "7a38a804bd13a949b09639443e13f658c3977bea4558e73f4b7d666f44ced233",
|
| 20 |
+
"contact_sensor": "a29b849b70bcf188d74698b89e03839bc2592fbb777421cfbe86d7ff14b1b3e8",
|
| 21 |
+
"camera_index": "8eacc2b12dec3e63998742f38a1394c69ec8f811abe85687165dfc6b5a5ce545"
|
| 22 |
+
},
|
| 23 |
+
"videos": {
|
| 24 |
+
"observation.images.ego": {
|
| 25 |
+
"path": "cameras/ego.mp4",
|
| 26 |
+
"sha256": "20c07167af52123efe0b74341dc0621b6f6e6d40e927cf8d43f42850bbc76a5b",
|
| 27 |
+
"encoding": {
|
| 28 |
+
"profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b",
|
| 29 |
+
"encoder": "libx264",
|
| 30 |
+
"crf": 18,
|
| 31 |
+
"preset": "medium",
|
| 32 |
+
"gop": 50,
|
| 33 |
+
"keyint_min": 50,
|
| 34 |
+
"scenecut": 0,
|
| 35 |
+
"color_range": "tv",
|
| 36 |
+
"command": [
|
| 37 |
+
"/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg",
|
| 38 |
+
"-hide_banner",
|
| 39 |
+
"-loglevel",
|
| 40 |
+
"error",
|
| 41 |
+
"-f",
|
| 42 |
+
"rawvideo",
|
| 43 |
+
"-pix_fmt",
|
| 44 |
+
"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 |
+
"-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",
|
| 79 |
+
"/home/jalen/workspace/WAM-Policy/data/lingbot_rambo/raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/ego.partial.mp4"
|
| 80 |
+
],
|
| 81 |
+
"encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers"
|
| 82 |
+
}
|
| 83 |
+
},
|
| 84 |
+
"observation.images.task_centric": {
|
| 85 |
+
"path": "cameras/task_centric.mp4",
|
| 86 |
+
"sha256": "003515af7028af4d057a4985cb942fc4821f65d9b3aa5b7071e19a5c3d538e98",
|
| 87 |
+
"encoding": {
|
| 88 |
+
"profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b",
|
| 89 |
+
"encoder": "libx264",
|
| 90 |
+
"crf": 18,
|
| 91 |
+
"preset": "medium",
|
| 92 |
+
"gop": 50,
|
| 93 |
+
"keyint_min": 50,
|
| 94 |
+
"scenecut": 0,
|
| 95 |
+
"color_range": "tv",
|
| 96 |
+
"command": [
|
| 97 |
+
"/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg",
|
| 98 |
+
"-hide_banner",
|
| 99 |
+
"-loglevel",
|
| 100 |
+
"error",
|
| 101 |
+
"-f",
|
| 102 |
+
"rawvideo",
|
| 103 |
+
"-pix_fmt",
|
| 104 |
+
"rgb24",
|
| 105 |
+
"-s",
|
| 106 |
+
"1280x720",
|
| 107 |
+
"-framerate",
|
| 108 |
+
"50",
|
| 109 |
+
"-i",
|
| 110 |
+
"pipe:0",
|
| 111 |
+
"-vf",
|
| 112 |
+
"scale=in_range=full:out_range=tv:out_color_matrix=bt709",
|
| 113 |
+
"-c:v",
|
| 114 |
+
"libx264",
|
| 115 |
+
"-threads",
|
| 116 |
+
"2",
|
| 117 |
+
"-crf",
|
| 118 |
+
"18",
|
| 119 |
+
"-preset",
|
| 120 |
+
"medium",
|
| 121 |
+
"-g",
|
| 122 |
+
"50",
|
| 123 |
+
"-keyint_min",
|
| 124 |
+
"50",
|
| 125 |
+
"-sc_threshold",
|
| 126 |
+
"0",
|
| 127 |
+
"-pix_fmt",
|
| 128 |
+
"yuv420p",
|
| 129 |
+
"-color_range",
|
| 130 |
+
"tv",
|
| 131 |
+
"-color_primaries",
|
| 132 |
+
"bt709",
|
| 133 |
+
"-color_trc",
|
| 134 |
+
"bt709",
|
| 135 |
+
"-colorspace",
|
| 136 |
+
"bt709",
|
| 137 |
+
"-fps_mode",
|
| 138 |
+
"cfr",
|
| 139 |
+
"/home/jalen/workspace/WAM-Policy/data/lingbot_rambo/raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/cameras/task_centric.partial.mp4"
|
| 140 |
+
],
|
| 141 |
+
"encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers"
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"observer": {
|
| 146 |
+
"present": true,
|
| 147 |
+
"source_key": "approved_fixed_observer",
|
| 148 |
+
"canonical_key": "monitor.images.observer",
|
| 149 |
+
"reason": "monitor only",
|
| 150 |
+
"path": "cameras/observer.mp4",
|
| 151 |
+
"crf": 23,
|
| 152 |
+
"sha256": "f3d15ca4dc6c6c442480bc3db8d424a1460ff73f2b2352366f642517944ff3ed"
|
| 153 |
+
},
|
| 154 |
+
"terminal": {
|
| 155 |
+
"simulation_time_ns": 14420000000,
|
| 156 |
+
"state": {
|
| 157 |
+
"observation.state.base.position": [
|
| 158 |
+
0.6111549735069275,
|
| 159 |
+
0.2504124045372009,
|
| 160 |
+
0.287723571062088
|
| 161 |
+
],
|
| 162 |
+
"observation.state.base.orientation": [
|
| 163 |
+
-0.009549040347337723,
|
| 164 |
+
0.012882429175078869,
|
| 165 |
+
0.0005187322967685759,
|
| 166 |
+
0.9998713731765747
|
| 167 |
+
],
|
| 168 |
+
"observation.state.base.linear_velocity": [
|
| 169 |
+
0.002627583220601082,
|
| 170 |
+
0.03125299513339996,
|
| 171 |
+
0.11078111827373505
|
| 172 |
+
],
|
| 173 |
+
"observation.state.base.angular_velocity": [
|
| 174 |
+
-0.05164889618754387,
|
| 175 |
+
-0.08867968618869781,
|
| 176 |
+
0.005093657877296209
|
| 177 |
+
],
|
| 178 |
+
"observation.state.projected_gravity": [
|
| 179 |
+
0.025771452113986015,
|
| 180 |
+
0.019082259386777878,
|
| 181 |
+
-0.9994857311248779
|
| 182 |
+
],
|
| 183 |
+
"observation.state.joint_position": [
|
| 184 |
+
0.08000622689723969,
|
| 185 |
+
0.5701645016670227,
|
| 186 |
+
0.04380315542221069,
|
| 187 |
+
-0.062278758734464645,
|
| 188 |
+
-0.1324770301580429,
|
| 189 |
+
0.831696093082428,
|
| 190 |
+
0.8034979701042175,
|
| 191 |
+
0.9286896586418152,
|
| 192 |
+
-1.6518564224243164,
|
| 193 |
+
-1.9009649753570557,
|
| 194 |
+
-1.762471079826355,
|
| 195 |
+
-1.7118852138519287
|
| 196 |
+
],
|
| 197 |
+
"observation.state.joint_velocity": [
|
| 198 |
+
0.41142937541007996,
|
| 199 |
+
-0.3122008442878723,
|
| 200 |
+
-0.05757804960012436,
|
| 201 |
+
0.31825125217437744,
|
| 202 |
+
-0.43661656975746155,
|
| 203 |
+
-0.26083144545555115,
|
| 204 |
+
-0.15590517222881317,
|
| 205 |
+
0.3314765393733978,
|
| 206 |
+
0.6843501925468445,
|
| 207 |
+
0.7669744491577148,
|
| 208 |
+
0.48865336179733276,
|
| 209 |
+
-1.3215190172195435
|
| 210 |
+
],
|
| 211 |
+
"observation.state.fl_ee_position": [
|
| 212 |
+
0.425486296415329,
|
| 213 |
+
0.151710644364357,
|
| 214 |
+
0.11594215035438538
|
| 215 |
+
],
|
| 216 |
+
"observation.state.fl_ee_velocity": [
|
| 217 |
+
0.11847968399524689,
|
| 218 |
+
0.05982071906328201,
|
| 219 |
+
0.1420428454875946
|
| 220 |
+
],
|
| 221 |
+
"observation.state.fl_contact_force": [
|
| 222 |
+
0.0,
|
| 223 |
+
0.0,
|
| 224 |
+
0.0
|
| 225 |
+
],
|
| 226 |
+
"task.object.position": [
|
| 227 |
+
1.14830482006073,
|
| 228 |
+
0.24462909996509552,
|
| 229 |
+
0.07526332139968872
|
| 230 |
+
],
|
| 231 |
+
"task.object.orientation": [
|
| 232 |
+
-0.04182926192879677,
|
| 233 |
+
-0.026781762018799782,
|
| 234 |
+
0.6909568309783936,
|
| 235 |
+
-0.7211877107620239
|
| 236 |
+
],
|
| 237 |
+
"task.object.linear_velocity": [
|
| 238 |
+
0.006904464215040207,
|
| 239 |
+
-0.060688890516757965,
|
| 240 |
+
0.00036554408143274486
|
| 241 |
+
],
|
| 242 |
+
"task.object.angular_velocity": [
|
| 243 |
+
-0.0013933039736002684,
|
| 244 |
+
-0.0042265793308615685,
|
| 245 |
+
-0.005036265589296818
|
| 246 |
+
],
|
| 247 |
+
"observation.state.foot_contact": [
|
| 248 |
+
false,
|
| 249 |
+
true,
|
| 250 |
+
true,
|
| 251 |
+
false
|
| 252 |
+
],
|
| 253 |
+
"task.goal.position": [
|
| 254 |
+
1.15,
|
| 255 |
+
0.15000000000000002,
|
| 256 |
+
0.0
|
| 257 |
+
],
|
| 258 |
+
"task.progress": [
|
| 259 |
+
0.44715768020223967
|
| 260 |
+
],
|
| 261 |
+
"task.success": [
|
| 262 |
+
true
|
| 263 |
+
],
|
| 264 |
+
"task.contact.fl_object": [
|
| 265 |
+
false
|
| 266 |
+
],
|
| 267 |
+
"task.contact.body_object": [
|
| 268 |
+
false
|
| 269 |
+
]
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
"extensions": {
|
| 273 |
+
"task_profile_version": "push-box-v2-2",
|
| 274 |
+
"contact_diagnostics": {
|
| 275 |
+
"path": "metadata/contact_provenance.json",
|
| 276 |
+
"sha256": "0c04014e8a87dda6e3b187024d57ff88412bfab6d96729074d06144163e1df06"
|
| 277 |
+
},
|
| 278 |
+
"provenance": {
|
| 279 |
+
"path": "metadata/provenance.json",
|
| 280 |
+
"sha256": "73f23f980dadccf75629216ef9979efbc978c61987ec3ddf4bbd6b1542d59b67"
|
| 281 |
+
},
|
| 282 |
+
"origin": "real_isaac_acquisition",
|
| 283 |
+
"purpose": "demonstration",
|
| 284 |
+
"task_review": {
|
| 285 |
+
"path": "metadata/task_review.json",
|
| 286 |
+
"sha256": "e58db15b35c6d6161f3e9059879bfede5fd0e14b34d4ba2a65eb42cd9993e25e"
|
| 287 |
+
}
|
| 288 |
+
}
|
| 289 |
+
}
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/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_25-a4/metadata/provenance.json
ADDED
|
@@ -0,0 +1,667 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"corner_recovery": true,
|
| 5 |
+
"work_id": "DATA-006",
|
| 6 |
+
"authorization": "data006-expansion-v1",
|
| 7 |
+
"id": "demo_25",
|
| 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": 270,
|
| 12 |
+
"motion": "leg_finish",
|
| 13 |
+
"color": "orange",
|
| 14 |
+
"goal_color": [
|
| 15 |
+
1.0,
|
| 16 |
+
0.45,
|
| 17 |
+
0.05
|
| 18 |
+
],
|
| 19 |
+
"split": "train",
|
| 20 |
+
"parameters": {
|
| 21 |
+
"attempt": 4,
|
| 22 |
+
"seed": 600750,
|
| 23 |
+
"face_x_m": 0.5331992812864841,
|
| 24 |
+
"center_y_m": 0.14034386232029397,
|
| 25 |
+
"goal_margin_x_m": 0.10290487260608026,
|
| 26 |
+
"goal_margin_y_m": 0.12519873782273858,
|
| 27 |
+
"base_speed_m_s": 0.13552645392224116,
|
| 28 |
+
"foot_x_m": 0.3332954777173981,
|
| 29 |
+
"transition_s": 0.44580573395911127
|
| 30 |
+
},
|
| 31 |
+
"selected_face": "local_y_min"
|
| 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": 4.71238898038469,
|
| 86 |
+
"push_face": "local_y_min",
|
| 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": 0.13552645392224116,
|
| 95 |
+
"face_distance_for_foot_approach": 0.405,
|
| 96 |
+
"approach_foot_x": 0.28,
|
| 97 |
+
"push_foot_x": 0.3332954777173981,
|
| 98 |
+
"motion": "leg_finish",
|
| 99 |
+
"transition_s": 0.44580573395911127,
|
| 100 |
+
"leg_finish_max_x": 0.4,
|
| 101 |
+
"lateral_tracking_gain": 2.0,
|
| 102 |
+
"lateral_tracking_limit_m": 0.015,
|
| 103 |
+
"corner_recovery": true
|
| 104 |
+
},
|
| 105 |
+
"initial_face_distance_x": 0.54,
|
| 106 |
+
"goal_color": [
|
| 107 |
+
1.0,
|
| 108 |
+
0.45,
|
| 109 |
+
0.05
|
| 110 |
+
],
|
| 111 |
+
"episode_scenario": {
|
| 112 |
+
"corner_recovery": true,
|
| 113 |
+
"work_id": "DATA-006",
|
| 114 |
+
"authorization": "data006-expansion-v1",
|
| 115 |
+
"id": "demo_25",
|
| 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": 270,
|
| 120 |
+
"motion": "leg_finish",
|
| 121 |
+
"color": "orange",
|
| 122 |
+
"goal_color": [
|
| 123 |
+
1.0,
|
| 124 |
+
0.45,
|
| 125 |
+
0.05
|
| 126 |
+
],
|
| 127 |
+
"split": "train",
|
| 128 |
+
"parameters": {
|
| 129 |
+
"attempt": 4,
|
| 130 |
+
"seed": 600750,
|
| 131 |
+
"face_x_m": 0.5331992812864841,
|
| 132 |
+
"center_y_m": 0.14034386232029397,
|
| 133 |
+
"goal_margin_x_m": 0.10290487260608026,
|
| 134 |
+
"goal_margin_y_m": 0.12519873782273858,
|
| 135 |
+
"base_speed_m_s": 0.13552645392224116,
|
| 136 |
+
"foot_x_m": 0.3332954777173981,
|
| 137 |
+
"transition_s": 0.44580573395911127
|
| 138 |
+
},
|
| 139 |
+
"selected_face": "local_y_min"
|
| 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 |
+
"source/rambo/rambo/tasks/common/push_box_scenarios.py": "246eabe3b45d18d8e28abe42ef8ea0aa61d117968e8305f722ba53b0d2ea92fe",
|
| 151 |
+
"source/rambo/rambo/tasks/common/push_box_corner_recovery.py": "0a082110a6bb15ab742a679c259eb0bfc7380f251b81b808a4af93e292ab7e1b"
|
| 152 |
+
},
|
| 153 |
+
"source_commit": "a9083112f631ecd0db7c66d29cadff87deb2f24c",
|
| 154 |
+
"checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
|
| 155 |
+
"capture_sha256": "70c94351b15c8a8cd6655eb9b0b7ccb5b7b349216b053f84777a792d11d5154f",
|
| 156 |
+
"terminal_gate": {
|
| 157 |
+
"work_id": "DATA-006",
|
| 158 |
+
"scenario": {
|
| 159 |
+
"corner_recovery": true,
|
| 160 |
+
"work_id": "DATA-006",
|
| 161 |
+
"authorization": "data006-expansion-v1",
|
| 162 |
+
"id": "demo_25",
|
| 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": 270,
|
| 167 |
+
"motion": "leg_finish",
|
| 168 |
+
"color": "orange",
|
| 169 |
+
"goal_color": [
|
| 170 |
+
1.0,
|
| 171 |
+
0.45,
|
| 172 |
+
0.05
|
| 173 |
+
],
|
| 174 |
+
"split": "train",
|
| 175 |
+
"parameters": {
|
| 176 |
+
"attempt": 4,
|
| 177 |
+
"seed": 600750,
|
| 178 |
+
"face_x_m": 0.5331992812864841,
|
| 179 |
+
"center_y_m": 0.14034386232029397,
|
| 180 |
+
"goal_margin_x_m": 0.10290487260608026,
|
| 181 |
+
"goal_margin_y_m": 0.12519873782273858,
|
| 182 |
+
"base_speed_m_s": 0.13552645392224116,
|
| 183 |
+
"foot_x_m": 0.3332954777173981,
|
| 184 |
+
"transition_s": 0.44580573395911127
|
| 185 |
+
},
|
| 186 |
+
"selected_face": "local_y_min"
|
| 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 |
+
"source/rambo/rambo/tasks/common/push_box_corner_recovery.py": "0a082110a6bb15ab742a679c259eb0bfc7380f251b81b808a4af93e292ab7e1b"
|
| 200 |
+
},
|
| 201 |
+
"profile": {
|
| 202 |
+
"task_profile_version": "push-box-v2-2",
|
| 203 |
+
"work_id": "DATA-006",
|
| 204 |
+
"approval": {
|
| 205 |
+
"status": "approved",
|
| 206 |
+
"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 207 |
+
"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 208 |
+
},
|
| 209 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 210 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 211 |
+
"scale": 1,
|
| 212 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 213 |
+
"initial_floor_clearance": 0.02,
|
| 214 |
+
"goal_x": [
|
| 215 |
+
0.95,
|
| 216 |
+
1.35
|
| 217 |
+
],
|
| 218 |
+
"goal_y": [
|
| 219 |
+
-0.1,
|
| 220 |
+
0.4
|
| 221 |
+
],
|
| 222 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 223 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 224 |
+
"fall": {
|
| 225 |
+
"base_height_lt": 0.1,
|
| 226 |
+
"projected_gravity_error_gt": 0.75
|
| 227 |
+
},
|
| 228 |
+
"contact": {
|
| 229 |
+
"role": "diagnostic_only",
|
| 230 |
+
"unavailable": "unknown",
|
| 231 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 232 |
+
},
|
| 233 |
+
"observer": {
|
| 234 |
+
"position": [
|
| 235 |
+
1.8,
|
| 236 |
+
2.0,
|
| 237 |
+
1.5
|
| 238 |
+
],
|
| 239 |
+
"look_at": [
|
| 240 |
+
0.65,
|
| 241 |
+
0.1,
|
| 242 |
+
0.2
|
| 243 |
+
],
|
| 244 |
+
"fps": 25,
|
| 245 |
+
"model_input": false
|
| 246 |
+
},
|
| 247 |
+
"policy_rgb_fps": 50,
|
| 248 |
+
"policy_fps": 50,
|
| 249 |
+
"controller_fps": 100,
|
| 250 |
+
"physics_fps": 500,
|
| 251 |
+
"force_zero": true,
|
| 252 |
+
"success_policy_ticks": 3,
|
| 253 |
+
"initial_box_yaw_rad": 4.71238898038469,
|
| 254 |
+
"push_face": "local_y_min",
|
| 255 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 256 |
+
"expert": {
|
| 257 |
+
"settle_seconds": 2.1,
|
| 258 |
+
"normal_approach_seconds": 1.0,
|
| 259 |
+
"standoff_m": 0.1,
|
| 260 |
+
"penetration_m": 0.015,
|
| 261 |
+
"align_base_speed": 0.14,
|
| 262 |
+
"push_base_speed": 0.13552645392224116,
|
| 263 |
+
"face_distance_for_foot_approach": 0.405,
|
| 264 |
+
"approach_foot_x": 0.28,
|
| 265 |
+
"push_foot_x": 0.3332954777173981,
|
| 266 |
+
"motion": "leg_finish",
|
| 267 |
+
"transition_s": 0.44580573395911127,
|
| 268 |
+
"leg_finish_max_x": 0.4,
|
| 269 |
+
"lateral_tracking_gain": 2.0,
|
| 270 |
+
"lateral_tracking_limit_m": 0.015,
|
| 271 |
+
"corner_recovery": true
|
| 272 |
+
},
|
| 273 |
+
"initial_face_distance_x": 0.54,
|
| 274 |
+
"goal_color": [
|
| 275 |
+
1.0,
|
| 276 |
+
0.45,
|
| 277 |
+
0.05
|
| 278 |
+
],
|
| 279 |
+
"episode_scenario": {
|
| 280 |
+
"corner_recovery": true,
|
| 281 |
+
"work_id": "DATA-006",
|
| 282 |
+
"authorization": "data006-expansion-v1",
|
| 283 |
+
"id": "demo_25",
|
| 284 |
+
"asset": "box05",
|
| 285 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 286 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 287 |
+
"yaw_deg": 270,
|
| 288 |
+
"motion": "leg_finish",
|
| 289 |
+
"color": "orange",
|
| 290 |
+
"goal_color": [
|
| 291 |
+
1.0,
|
| 292 |
+
0.45,
|
| 293 |
+
0.05
|
| 294 |
+
],
|
| 295 |
+
"split": "train",
|
| 296 |
+
"parameters": {
|
| 297 |
+
"attempt": 4,
|
| 298 |
+
"seed": 600750,
|
| 299 |
+
"face_x_m": 0.5331992812864841,
|
| 300 |
+
"center_y_m": 0.14034386232029397,
|
| 301 |
+
"goal_margin_x_m": 0.10290487260608026,
|
| 302 |
+
"goal_margin_y_m": 0.12519873782273858,
|
| 303 |
+
"base_speed_m_s": 0.13552645392224116,
|
| 304 |
+
"foot_x_m": 0.3332954777173981,
|
| 305 |
+
"transition_s": 0.44580573395911127
|
| 306 |
+
},
|
| 307 |
+
"selected_face": "local_y_min"
|
| 308 |
+
}
|
| 309 |
+
},
|
| 310 |
+
"dataset_episode": true,
|
| 311 |
+
"initial_geometry": {
|
| 312 |
+
"source": {
|
| 313 |
+
"low": [
|
| 314 |
+
-0.1421108788345009,
|
| 315 |
+
-0.16777700930833817,
|
| 316 |
+
-0.08067391440272331
|
| 317 |
+
],
|
| 318 |
+
"high": [
|
| 319 |
+
0.1586523264995776,
|
| 320 |
+
0.0067610666155815125,
|
| 321 |
+
0.1457897126674652
|
| 322 |
+
],
|
| 323 |
+
"dimensions": [
|
| 324 |
+
0.3007632053340785,
|
| 325 |
+
0.17453807592391968,
|
| 326 |
+
0.22646362707018852
|
| 327 |
+
],
|
| 328 |
+
"center": [
|
| 329 |
+
0.008270723832538351,
|
| 330 |
+
-0.08050797134637833,
|
| 331 |
+
0.03255789913237095
|
| 332 |
+
],
|
| 333 |
+
"face_center": [
|
| 334 |
+
0.008270723832538351,
|
| 335 |
+
-0.16777700930833817,
|
| 336 |
+
0.03255789913237095
|
| 337 |
+
],
|
| 338 |
+
"face_normal": [
|
| 339 |
+
0.0,
|
| 340 |
+
-1.0,
|
| 341 |
+
0.0
|
| 342 |
+
],
|
| 343 |
+
"face": "local_y_min",
|
| 344 |
+
"corners": [
|
| 345 |
+
[
|
| 346 |
+
-0.1421108788345009,
|
| 347 |
+
-0.16777700930833817,
|
| 348 |
+
-0.08067391440272331
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
-0.1421108788345009,
|
| 352 |
+
-0.16777700930833817,
|
| 353 |
+
0.1457897126674652
|
| 354 |
+
],
|
| 355 |
+
[
|
| 356 |
+
-0.1421108788345009,
|
| 357 |
+
0.0067610666155815125,
|
| 358 |
+
-0.08067391440272331
|
| 359 |
+
],
|
| 360 |
+
[
|
| 361 |
+
-0.1421108788345009,
|
| 362 |
+
0.0067610666155815125,
|
| 363 |
+
0.1457897126674652
|
| 364 |
+
],
|
| 365 |
+
[
|
| 366 |
+
0.1586523264995776,
|
| 367 |
+
-0.16777700930833817,
|
| 368 |
+
-0.08067391440272331
|
| 369 |
+
],
|
| 370 |
+
[
|
| 371 |
+
0.1586523264995776,
|
| 372 |
+
-0.16777700930833817,
|
| 373 |
+
0.1457897126674652
|
| 374 |
+
],
|
| 375 |
+
[
|
| 376 |
+
0.1586523264995776,
|
| 377 |
+
0.0067610666155815125,
|
| 378 |
+
-0.08067391440272331
|
| 379 |
+
],
|
| 380 |
+
[
|
| 381 |
+
0.1586523264995776,
|
| 382 |
+
0.0067610666155815125,
|
| 383 |
+
0.1457897126674652
|
| 384 |
+
]
|
| 385 |
+
]
|
| 386 |
+
},
|
| 387 |
+
"world": {
|
| 388 |
+
"center": [
|
| 389 |
+
0.6204683192484439,
|
| 390 |
+
0.14034386232029397,
|
| 391 |
+
0.13323181353509428
|
| 392 |
+
],
|
| 393 |
+
"face_center": [
|
| 394 |
+
0.5331992812864841,
|
| 395 |
+
0.14034386232029397,
|
| 396 |
+
0.13323181353509428
|
| 397 |
+
],
|
| 398 |
+
"face_normal": [
|
| 399 |
+
-1.0,
|
| 400 |
+
2.220446049250313e-16,
|
| 401 |
+
0.0
|
| 402 |
+
],
|
| 403 |
+
"footprint_xy": [
|
| 404 |
+
[
|
| 405 |
+
0.5331992812864841,
|
| 406 |
+
-0.010037740346745316
|
| 407 |
+
],
|
| 408 |
+
[
|
| 409 |
+
0.7077373572104038,
|
| 410 |
+
-0.010037740346745316
|
| 411 |
+
],
|
| 412 |
+
[
|
| 413 |
+
0.7077373572104038,
|
| 414 |
+
0.2907254649873332
|
| 415 |
+
],
|
| 416 |
+
[
|
| 417 |
+
0.5331992812864841,
|
| 418 |
+
0.2907254649873332
|
| 419 |
+
]
|
| 420 |
+
],
|
| 421 |
+
"projected_box_corners": [
|
| 422 |
+
[
|
| 423 |
+
0.5331992812864841,
|
| 424 |
+
0.2907254649873332
|
| 425 |
+
],
|
| 426 |
+
[
|
| 427 |
+
0.5331992812864841,
|
| 428 |
+
0.2907254649873332
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
0.7077373572104038,
|
| 432 |
+
0.2907254649873332
|
| 433 |
+
],
|
| 434 |
+
[
|
| 435 |
+
0.7077373572104038,
|
| 436 |
+
0.2907254649873332
|
| 437 |
+
],
|
| 438 |
+
[
|
| 439 |
+
0.5331992812864841,
|
| 440 |
+
-0.010037740346745289
|
| 441 |
+
],
|
| 442 |
+
[
|
| 443 |
+
0.5331992812864841,
|
| 444 |
+
-0.010037740346745289
|
| 445 |
+
],
|
| 446 |
+
[
|
| 447 |
+
0.7077373572104038,
|
| 448 |
+
-0.010037740346745316
|
| 449 |
+
],
|
| 450 |
+
[
|
| 451 |
+
0.7077373572104038,
|
| 452 |
+
-0.010037740346745316
|
| 453 |
+
]
|
| 454 |
+
],
|
| 455 |
+
"yaw_rad": -1.5707963267948968
|
| 456 |
+
},
|
| 457 |
+
"box_pose": [
|
| 458 |
+
0.7009762905948222,
|
| 459 |
+
0.1486145861528323,
|
| 460 |
+
0.10067391440272332,
|
| 461 |
+
0.0,
|
| 462 |
+
0.0,
|
| 463 |
+
0.7071067811865476,
|
| 464 |
+
-0.7071067811865475
|
| 465 |
+
],
|
| 466 |
+
"robot_config_position": [
|
| 467 |
+
0.0,
|
| 468 |
+
0.0,
|
| 469 |
+
0.3
|
| 470 |
+
]
|
| 471 |
+
},
|
| 472 |
+
"terminal_before_reset": true,
|
| 473 |
+
"terminal_simulation_time_ns": 14420000000,
|
| 474 |
+
"n_actions": 721,
|
| 475 |
+
"n_boundaries": 722,
|
| 476 |
+
"reset_events": [
|
| 477 |
+
"reset_enter_after_terminal_copy",
|
| 478 |
+
"reset_exit"
|
| 479 |
+
],
|
| 480 |
+
"terminal_vs_reset": {
|
| 481 |
+
"ego": {
|
| 482 |
+
"pre_reset_sha256": "b7d053d4ba30b926cddb4547a5ae34e0ff5bdf70d971406da66b6d8eff5c1447",
|
| 483 |
+
"post_reset_sha256": "424f8c5f8e4c8842cd850edf8f4760f4885598e65f4d09ff6c791b3526b77248",
|
| 484 |
+
"mean_absolute_pixel_difference": 13.504719690393518
|
| 485 |
+
},
|
| 486 |
+
"task_centric": {
|
| 487 |
+
"pre_reset_sha256": "bf1b55d5b4c14f8cda592ccc6d634cb1d30dea0a930ee4dbeda4c25520803c77",
|
| 488 |
+
"post_reset_sha256": "7d7d42d62dfe69442b8e988e21fe3f4fc952b51d6d1a88418660486936f0a870",
|
| 489 |
+
"mean_absolute_pixel_difference": 46.7459349681713
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"state_difference_m": 0.6111549735069275,
|
| 493 |
+
"status": "success",
|
| 494 |
+
"physics": {
|
| 495 |
+
"requested_cfg": "isaaclab_physx.physics.physx_manager_cfg.PhysxCfg",
|
| 496 |
+
"actual_manager": "isaaclab_physx.physics.physx_manager.PhysxManager",
|
| 497 |
+
"configured_manager": "isaaclab_physx.physics.physx_manager.PhysxManager",
|
| 498 |
+
"use_newton_actuators": false,
|
| 499 |
+
"physics_dt_s": 0.002,
|
| 500 |
+
"device": "cuda:0"
|
| 501 |
+
},
|
| 502 |
+
"contact_provenance": "unknown_diagnostic_only"
|
| 503 |
+
},
|
| 504 |
+
"collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench",
|
| 505 |
+
"fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4",
|
| 506 |
+
"initial_geometry": {
|
| 507 |
+
"source": {
|
| 508 |
+
"low": [
|
| 509 |
+
-0.1421108788345009,
|
| 510 |
+
-0.16777700930833817,
|
| 511 |
+
-0.08067391440272331
|
| 512 |
+
],
|
| 513 |
+
"high": [
|
| 514 |
+
0.1586523264995776,
|
| 515 |
+
0.0067610666155815125,
|
| 516 |
+
0.1457897126674652
|
| 517 |
+
],
|
| 518 |
+
"dimensions": [
|
| 519 |
+
0.3007632053340785,
|
| 520 |
+
0.17453807592391968,
|
| 521 |
+
0.22646362707018852
|
| 522 |
+
],
|
| 523 |
+
"center": [
|
| 524 |
+
0.008270723832538351,
|
| 525 |
+
-0.08050797134637833,
|
| 526 |
+
0.03255789913237095
|
| 527 |
+
],
|
| 528 |
+
"face_center": [
|
| 529 |
+
0.008270723832538351,
|
| 530 |
+
-0.16777700930833817,
|
| 531 |
+
0.03255789913237095
|
| 532 |
+
],
|
| 533 |
+
"face_normal": [
|
| 534 |
+
0.0,
|
| 535 |
+
-1.0,
|
| 536 |
+
0.0
|
| 537 |
+
],
|
| 538 |
+
"face": "local_y_min",
|
| 539 |
+
"corners": [
|
| 540 |
+
[
|
| 541 |
+
-0.1421108788345009,
|
| 542 |
+
-0.16777700930833817,
|
| 543 |
+
-0.08067391440272331
|
| 544 |
+
],
|
| 545 |
+
[
|
| 546 |
+
-0.1421108788345009,
|
| 547 |
+
-0.16777700930833817,
|
| 548 |
+
0.1457897126674652
|
| 549 |
+
],
|
| 550 |
+
[
|
| 551 |
+
-0.1421108788345009,
|
| 552 |
+
0.0067610666155815125,
|
| 553 |
+
-0.08067391440272331
|
| 554 |
+
],
|
| 555 |
+
[
|
| 556 |
+
-0.1421108788345009,
|
| 557 |
+
0.0067610666155815125,
|
| 558 |
+
0.1457897126674652
|
| 559 |
+
],
|
| 560 |
+
[
|
| 561 |
+
0.1586523264995776,
|
| 562 |
+
-0.16777700930833817,
|
| 563 |
+
-0.08067391440272331
|
| 564 |
+
],
|
| 565 |
+
[
|
| 566 |
+
0.1586523264995776,
|
| 567 |
+
-0.16777700930833817,
|
| 568 |
+
0.1457897126674652
|
| 569 |
+
],
|
| 570 |
+
[
|
| 571 |
+
0.1586523264995776,
|
| 572 |
+
0.0067610666155815125,
|
| 573 |
+
-0.08067391440272331
|
| 574 |
+
],
|
| 575 |
+
[
|
| 576 |
+
0.1586523264995776,
|
| 577 |
+
0.0067610666155815125,
|
| 578 |
+
0.1457897126674652
|
| 579 |
+
]
|
| 580 |
+
]
|
| 581 |
+
},
|
| 582 |
+
"world": {
|
| 583 |
+
"center": [
|
| 584 |
+
0.6204683192484439,
|
| 585 |
+
0.14034386232029397,
|
| 586 |
+
0.13323181353509428
|
| 587 |
+
],
|
| 588 |
+
"face_center": [
|
| 589 |
+
0.5331992812864841,
|
| 590 |
+
0.14034386232029397,
|
| 591 |
+
0.13323181353509428
|
| 592 |
+
],
|
| 593 |
+
"face_normal": [
|
| 594 |
+
-1.0,
|
| 595 |
+
2.220446049250313e-16,
|
| 596 |
+
0.0
|
| 597 |
+
],
|
| 598 |
+
"footprint_xy": [
|
| 599 |
+
[
|
| 600 |
+
0.5331992812864841,
|
| 601 |
+
-0.010037740346745316
|
| 602 |
+
],
|
| 603 |
+
[
|
| 604 |
+
0.7077373572104038,
|
| 605 |
+
-0.010037740346745316
|
| 606 |
+
],
|
| 607 |
+
[
|
| 608 |
+
0.7077373572104038,
|
| 609 |
+
0.2907254649873332
|
| 610 |
+
],
|
| 611 |
+
[
|
| 612 |
+
0.5331992812864841,
|
| 613 |
+
0.2907254649873332
|
| 614 |
+
]
|
| 615 |
+
],
|
| 616 |
+
"projected_box_corners": [
|
| 617 |
+
[
|
| 618 |
+
0.5331992812864841,
|
| 619 |
+
0.2907254649873332
|
| 620 |
+
],
|
| 621 |
+
[
|
| 622 |
+
0.5331992812864841,
|
| 623 |
+
0.2907254649873332
|
| 624 |
+
],
|
| 625 |
+
[
|
| 626 |
+
0.7077373572104038,
|
| 627 |
+
0.2907254649873332
|
| 628 |
+
],
|
| 629 |
+
[
|
| 630 |
+
0.7077373572104038,
|
| 631 |
+
0.2907254649873332
|
| 632 |
+
],
|
| 633 |
+
[
|
| 634 |
+
0.5331992812864841,
|
| 635 |
+
-0.010037740346745289
|
| 636 |
+
],
|
| 637 |
+
[
|
| 638 |
+
0.5331992812864841,
|
| 639 |
+
-0.010037740346745289
|
| 640 |
+
],
|
| 641 |
+
[
|
| 642 |
+
0.7077373572104038,
|
| 643 |
+
-0.010037740346745316
|
| 644 |
+
],
|
| 645 |
+
[
|
| 646 |
+
0.7077373572104038,
|
| 647 |
+
-0.010037740346745316
|
| 648 |
+
]
|
| 649 |
+
],
|
| 650 |
+
"yaw_rad": -1.5707963267948968
|
| 651 |
+
},
|
| 652 |
+
"box_pose": [
|
| 653 |
+
0.7009762905948222,
|
| 654 |
+
0.1486145861528323,
|
| 655 |
+
0.10067391440272332,
|
| 656 |
+
0.0,
|
| 657 |
+
0.0,
|
| 658 |
+
0.7071067811865476,
|
| 659 |
+
-0.7071067811865475
|
| 660 |
+
],
|
| 661 |
+
"robot_config_position": [
|
| 662 |
+
0.0,
|
| 663 |
+
0.0,
|
| 664 |
+
0.3
|
| 665 |
+
]
|
| 666 |
+
}
|
| 667 |
+
}
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/metadata/task_review.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/raw-validation.json
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"contract_valid": true,
|
| 3 |
+
"diagnostic_only": false,
|
| 4 |
+
"raw_actions": 721,
|
| 5 |
+
"raw_boundaries": 722,
|
| 6 |
+
"physics_steps": 7210,
|
| 7 |
+
"controller_steps": 1442,
|
| 8 |
+
"sensor_updates": 1443,
|
| 9 |
+
"sensor_rate": "observed timestamps, not assumed 200Hz",
|
| 10 |
+
"video_validation": "passed",
|
| 11 |
+
"published": false
|
| 12 |
+
}
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/review/post_reset_ego.png
ADDED
|
Git LFS Details
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/review/post_reset_task_centric.png
ADDED
|
Git LFS Details
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/review/terminal_pre_reset_ego.png
ADDED
|
Git LFS Details
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/review/terminal_pre_reset_task_centric.png
ADDED
|
Git LFS Details
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/streams/camera_index.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8eacc2b12dec3e63998742f38a1394c69ec8f811abe85687165dfc6b5a5ce545
|
| 3 |
+
size 18727
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/streams/contact_sensor.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a29b849b70bcf188d74698b89e03839bc2592fbb777421cfbe86d7ff14b1b3e8
|
| 3 |
+
size 104743
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/streams/controller_100hz.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b0ee2e4479de034ad9f84365473e8eac501f57ab1fb52901f4aed97384120fee
|
| 3 |
+
size 533535
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/streams/physics_500hz.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7a38a804bd13a949b09639443e13f658c3977bea4558e73f4b7d666f44ced233
|
| 3 |
+
size 2878855
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/streams/policy_50hz.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:08cce3f955356a025fcb5b4b9b4141e297c8dae3b6a039d693a1ef49a79fd982
|
| 3 |
+
size 294270
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_25-a4/summary.json
ADDED
|
@@ -0,0 +1,348 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"corner_recovery": true,
|
| 5 |
+
"work_id": "DATA-006",
|
| 6 |
+
"authorization": "data006-expansion-v1",
|
| 7 |
+
"id": "demo_25",
|
| 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": 270,
|
| 12 |
+
"motion": "leg_finish",
|
| 13 |
+
"color": "orange",
|
| 14 |
+
"goal_color": [
|
| 15 |
+
1.0,
|
| 16 |
+
0.45,
|
| 17 |
+
0.05
|
| 18 |
+
],
|
| 19 |
+
"split": "train",
|
| 20 |
+
"parameters": {
|
| 21 |
+
"attempt": 4,
|
| 22 |
+
"seed": 600750,
|
| 23 |
+
"face_x_m": 0.5331992812864841,
|
| 24 |
+
"center_y_m": 0.14034386232029397,
|
| 25 |
+
"goal_margin_x_m": 0.10290487260608026,
|
| 26 |
+
"goal_margin_y_m": 0.12519873782273858,
|
| 27 |
+
"base_speed_m_s": 0.13552645392224116,
|
| 28 |
+
"foot_x_m": 0.3332954777173981,
|
| 29 |
+
"transition_s": 0.44580573395911127
|
| 30 |
+
},
|
| 31 |
+
"selected_face": "local_y_min"
|
| 32 |
+
},
|
| 33 |
+
"mode": "demonstration",
|
| 34 |
+
"passed": true,
|
| 35 |
+
"implementation": {
|
| 36 |
+
"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
| 37 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 38 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "74edcdce35a7b1fab3a0194953bdd6514d1da08afa50e0657cb8604073c03d32",
|
| 39 |
+
"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 40 |
+
"scripts/rambo/collect_push_box_v2.py": "cfedaa153b1820c46c8e7d5a7fccc450ca7fb775515cf0eb002f86b376ff8c51",
|
| 41 |
+
"source/rambo/rambo/tasks/common/push_box_geometry.py": "188173248ec101e6dcbd637fd862ee5525f7737080ea7abaf6eba166b9bda8cd",
|
| 42 |
+
"source/rambo/rambo/tasks/common/push_box_expert.py": "61229368b96aef03d22efaa0dbebd445e4a9daa96200bcd36498792e1875d212",
|
| 43 |
+
"source/rambo/rambo/tasks/common/push_box_scenarios.py": "246eabe3b45d18d8e28abe42ef8ea0aa61d117968e8305f722ba53b0d2ea92fe",
|
| 44 |
+
"source/rambo/rambo/tasks/common/push_box_corner_recovery.py": "0a082110a6bb15ab742a679c259eb0bfc7380f251b81b808a4af93e292ab7e1b"
|
| 45 |
+
},
|
| 46 |
+
"profile": {
|
| 47 |
+
"task_profile_version": "push-box-v2-2",
|
| 48 |
+
"work_id": "DATA-006",
|
| 49 |
+
"approval": {
|
| 50 |
+
"status": "approved",
|
| 51 |
+
"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 52 |
+
"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 53 |
+
},
|
| 54 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 55 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 56 |
+
"scale": 1,
|
| 57 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 58 |
+
"initial_floor_clearance": 0.02,
|
| 59 |
+
"goal_x": [
|
| 60 |
+
0.95,
|
| 61 |
+
1.35
|
| 62 |
+
],
|
| 63 |
+
"goal_y": [
|
| 64 |
+
-0.1,
|
| 65 |
+
0.4
|
| 66 |
+
],
|
| 67 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 68 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 69 |
+
"fall": {
|
| 70 |
+
"base_height_lt": 0.1,
|
| 71 |
+
"projected_gravity_error_gt": 0.75
|
| 72 |
+
},
|
| 73 |
+
"contact": {
|
| 74 |
+
"role": "diagnostic_only",
|
| 75 |
+
"unavailable": "unknown",
|
| 76 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 77 |
+
},
|
| 78 |
+
"observer": {
|
| 79 |
+
"position": [
|
| 80 |
+
1.8,
|
| 81 |
+
2.0,
|
| 82 |
+
1.5
|
| 83 |
+
],
|
| 84 |
+
"look_at": [
|
| 85 |
+
0.65,
|
| 86 |
+
0.1,
|
| 87 |
+
0.2
|
| 88 |
+
],
|
| 89 |
+
"fps": 25,
|
| 90 |
+
"model_input": false
|
| 91 |
+
},
|
| 92 |
+
"policy_rgb_fps": 50,
|
| 93 |
+
"policy_fps": 50,
|
| 94 |
+
"controller_fps": 100,
|
| 95 |
+
"physics_fps": 500,
|
| 96 |
+
"force_zero": true,
|
| 97 |
+
"success_policy_ticks": 3,
|
| 98 |
+
"initial_box_yaw_rad": 4.71238898038469,
|
| 99 |
+
"push_face": "local_y_min",
|
| 100 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 101 |
+
"expert": {
|
| 102 |
+
"settle_seconds": 2.1,
|
| 103 |
+
"normal_approach_seconds": 1.0,
|
| 104 |
+
"standoff_m": 0.1,
|
| 105 |
+
"penetration_m": 0.015,
|
| 106 |
+
"align_base_speed": 0.14,
|
| 107 |
+
"push_base_speed": 0.13552645392224116,
|
| 108 |
+
"face_distance_for_foot_approach": 0.405,
|
| 109 |
+
"approach_foot_x": 0.28,
|
| 110 |
+
"push_foot_x": 0.3332954777173981,
|
| 111 |
+
"motion": "leg_finish",
|
| 112 |
+
"transition_s": 0.44580573395911127,
|
| 113 |
+
"leg_finish_max_x": 0.4,
|
| 114 |
+
"lateral_tracking_gain": 2.0,
|
| 115 |
+
"lateral_tracking_limit_m": 0.015,
|
| 116 |
+
"corner_recovery": true
|
| 117 |
+
},
|
| 118 |
+
"initial_face_distance_x": 0.54,
|
| 119 |
+
"goal_color": [
|
| 120 |
+
1.0,
|
| 121 |
+
0.45,
|
| 122 |
+
0.05
|
| 123 |
+
],
|
| 124 |
+
"episode_scenario": {
|
| 125 |
+
"corner_recovery": true,
|
| 126 |
+
"work_id": "DATA-006",
|
| 127 |
+
"authorization": "data006-expansion-v1",
|
| 128 |
+
"id": "demo_25",
|
| 129 |
+
"asset": "box05",
|
| 130 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 131 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 132 |
+
"yaw_deg": 270,
|
| 133 |
+
"motion": "leg_finish",
|
| 134 |
+
"color": "orange",
|
| 135 |
+
"goal_color": [
|
| 136 |
+
1.0,
|
| 137 |
+
0.45,
|
| 138 |
+
0.05
|
| 139 |
+
],
|
| 140 |
+
"split": "train",
|
| 141 |
+
"parameters": {
|
| 142 |
+
"attempt": 4,
|
| 143 |
+
"seed": 600750,
|
| 144 |
+
"face_x_m": 0.5331992812864841,
|
| 145 |
+
"center_y_m": 0.14034386232029397,
|
| 146 |
+
"goal_margin_x_m": 0.10290487260608026,
|
| 147 |
+
"goal_margin_y_m": 0.12519873782273858,
|
| 148 |
+
"base_speed_m_s": 0.13552645392224116,
|
| 149 |
+
"foot_x_m": 0.3332954777173981,
|
| 150 |
+
"transition_s": 0.44580573395911127
|
| 151 |
+
},
|
| 152 |
+
"selected_face": "local_y_min"
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"dataset_episode": true,
|
| 156 |
+
"initial_geometry": {
|
| 157 |
+
"source": {
|
| 158 |
+
"low": [
|
| 159 |
+
-0.1421108788345009,
|
| 160 |
+
-0.16777700930833817,
|
| 161 |
+
-0.08067391440272331
|
| 162 |
+
],
|
| 163 |
+
"high": [
|
| 164 |
+
0.1586523264995776,
|
| 165 |
+
0.0067610666155815125,
|
| 166 |
+
0.1457897126674652
|
| 167 |
+
],
|
| 168 |
+
"dimensions": [
|
| 169 |
+
0.3007632053340785,
|
| 170 |
+
0.17453807592391968,
|
| 171 |
+
0.22646362707018852
|
| 172 |
+
],
|
| 173 |
+
"center": [
|
| 174 |
+
0.008270723832538351,
|
| 175 |
+
-0.08050797134637833,
|
| 176 |
+
0.03255789913237095
|
| 177 |
+
],
|
| 178 |
+
"face_center": [
|
| 179 |
+
0.008270723832538351,
|
| 180 |
+
-0.16777700930833817,
|
| 181 |
+
0.03255789913237095
|
| 182 |
+
],
|
| 183 |
+
"face_normal": [
|
| 184 |
+
0.0,
|
| 185 |
+
-1.0,
|
| 186 |
+
0.0
|
| 187 |
+
],
|
| 188 |
+
"face": "local_y_min",
|
| 189 |
+
"corners": [
|
| 190 |
+
[
|
| 191 |
+
-0.1421108788345009,
|
| 192 |
+
-0.16777700930833817,
|
| 193 |
+
-0.08067391440272331
|
| 194 |
+
],
|
| 195 |
+
[
|
| 196 |
+
-0.1421108788345009,
|
| 197 |
+
-0.16777700930833817,
|
| 198 |
+
0.1457897126674652
|
| 199 |
+
],
|
| 200 |
+
[
|
| 201 |
+
-0.1421108788345009,
|
| 202 |
+
0.0067610666155815125,
|
| 203 |
+
-0.08067391440272331
|
| 204 |
+
],
|
| 205 |
+
[
|
| 206 |
+
-0.1421108788345009,
|
| 207 |
+
0.0067610666155815125,
|
| 208 |
+
0.1457897126674652
|
| 209 |
+
],
|
| 210 |
+
[
|
| 211 |
+
0.1586523264995776,
|
| 212 |
+
-0.16777700930833817,
|
| 213 |
+
-0.08067391440272331
|
| 214 |
+
],
|
| 215 |
+
[
|
| 216 |
+
0.1586523264995776,
|
| 217 |
+
-0.16777700930833817,
|
| 218 |
+
0.1457897126674652
|
| 219 |
+
],
|
| 220 |
+
[
|
| 221 |
+
0.1586523264995776,
|
| 222 |
+
0.0067610666155815125,
|
| 223 |
+
-0.08067391440272331
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
0.1586523264995776,
|
| 227 |
+
0.0067610666155815125,
|
| 228 |
+
0.1457897126674652
|
| 229 |
+
]
|
| 230 |
+
]
|
| 231 |
+
},
|
| 232 |
+
"world": {
|
| 233 |
+
"center": [
|
| 234 |
+
0.6204683192484439,
|
| 235 |
+
0.14034386232029397,
|
| 236 |
+
0.13323181353509428
|
| 237 |
+
],
|
| 238 |
+
"face_center": [
|
| 239 |
+
0.5331992812864841,
|
| 240 |
+
0.14034386232029397,
|
| 241 |
+
0.13323181353509428
|
| 242 |
+
],
|
| 243 |
+
"face_normal": [
|
| 244 |
+
-1.0,
|
| 245 |
+
2.220446049250313e-16,
|
| 246 |
+
0.0
|
| 247 |
+
],
|
| 248 |
+
"footprint_xy": [
|
| 249 |
+
[
|
| 250 |
+
0.5331992812864841,
|
| 251 |
+
-0.010037740346745316
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
0.7077373572104038,
|
| 255 |
+
-0.010037740346745316
|
| 256 |
+
],
|
| 257 |
+
[
|
| 258 |
+
0.7077373572104038,
|
| 259 |
+
0.2907254649873332
|
| 260 |
+
],
|
| 261 |
+
[
|
| 262 |
+
0.5331992812864841,
|
| 263 |
+
0.2907254649873332
|
| 264 |
+
]
|
| 265 |
+
],
|
| 266 |
+
"projected_box_corners": [
|
| 267 |
+
[
|
| 268 |
+
0.5331992812864841,
|
| 269 |
+
0.2907254649873332
|
| 270 |
+
],
|
| 271 |
+
[
|
| 272 |
+
0.5331992812864841,
|
| 273 |
+
0.2907254649873332
|
| 274 |
+
],
|
| 275 |
+
[
|
| 276 |
+
0.7077373572104038,
|
| 277 |
+
0.2907254649873332
|
| 278 |
+
],
|
| 279 |
+
[
|
| 280 |
+
0.7077373572104038,
|
| 281 |
+
0.2907254649873332
|
| 282 |
+
],
|
| 283 |
+
[
|
| 284 |
+
0.5331992812864841,
|
| 285 |
+
-0.010037740346745289
|
| 286 |
+
],
|
| 287 |
+
[
|
| 288 |
+
0.5331992812864841,
|
| 289 |
+
-0.010037740346745289
|
| 290 |
+
],
|
| 291 |
+
[
|
| 292 |
+
0.7077373572104038,
|
| 293 |
+
-0.010037740346745316
|
| 294 |
+
],
|
| 295 |
+
[
|
| 296 |
+
0.7077373572104038,
|
| 297 |
+
-0.010037740346745316
|
| 298 |
+
]
|
| 299 |
+
],
|
| 300 |
+
"yaw_rad": -1.5707963267948968
|
| 301 |
+
},
|
| 302 |
+
"box_pose": [
|
| 303 |
+
0.7009762905948222,
|
| 304 |
+
0.1486145861528323,
|
| 305 |
+
0.10067391440272332,
|
| 306 |
+
0.0,
|
| 307 |
+
0.0,
|
| 308 |
+
0.7071067811865476,
|
| 309 |
+
-0.7071067811865475
|
| 310 |
+
],
|
| 311 |
+
"robot_config_position": [
|
| 312 |
+
0.0,
|
| 313 |
+
0.0,
|
| 314 |
+
0.3
|
| 315 |
+
]
|
| 316 |
+
},
|
| 317 |
+
"terminal_before_reset": true,
|
| 318 |
+
"terminal_simulation_time_ns": 14420000000,
|
| 319 |
+
"n_actions": 721,
|
| 320 |
+
"n_boundaries": 722,
|
| 321 |
+
"reset_events": [
|
| 322 |
+
"reset_enter_after_terminal_copy",
|
| 323 |
+
"reset_exit"
|
| 324 |
+
],
|
| 325 |
+
"terminal_vs_reset": {
|
| 326 |
+
"ego": {
|
| 327 |
+
"pre_reset_sha256": "b7d053d4ba30b926cddb4547a5ae34e0ff5bdf70d971406da66b6d8eff5c1447",
|
| 328 |
+
"post_reset_sha256": "424f8c5f8e4c8842cd850edf8f4760f4885598e65f4d09ff6c791b3526b77248",
|
| 329 |
+
"mean_absolute_pixel_difference": 13.504719690393518
|
| 330 |
+
},
|
| 331 |
+
"task_centric": {
|
| 332 |
+
"pre_reset_sha256": "bf1b55d5b4c14f8cda592ccc6d634cb1d30dea0a930ee4dbeda4c25520803c77",
|
| 333 |
+
"post_reset_sha256": "7d7d42d62dfe69442b8e988e21fe3f4fc952b51d6d1a88418660486936f0a870",
|
| 334 |
+
"mean_absolute_pixel_difference": 46.7459349681713
|
| 335 |
+
}
|
| 336 |
+
},
|
| 337 |
+
"state_difference_m": 0.6111549735069275,
|
| 338 |
+
"status": "success",
|
| 339 |
+
"physics": {
|
| 340 |
+
"requested_cfg": "isaaclab_physx.physics.physx_manager_cfg.PhysxCfg",
|
| 341 |
+
"actual_manager": "isaaclab_physx.physics.physx_manager.PhysxManager",
|
| 342 |
+
"configured_manager": "isaaclab_physx.physics.physx_manager.PhysxManager",
|
| 343 |
+
"use_newton_actuators": false,
|
| 344 |
+
"physics_dt_s": 0.002,
|
| 345 |
+
"device": "cuda:0"
|
| 346 |
+
},
|
| 347 |
+
"contact_provenance": "unknown_diagnostic_only"
|
| 348 |
+
}
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/ego.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a4a1892f89fb3343e05286d10f33212f89ea799f9005a67d7a46b04d00da10b2
|
| 3 |
+
size 2731493
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/ego.partial.encoder.log
ADDED
|
File without changes
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/observer.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f60f4947d872a19cb0583f1fc70151480662140757b76e67349adcbf7beac8ae
|
| 3 |
+
size 916216
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/observer.partial.encoder.log
ADDED
|
File without changes
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/task_centric.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e283acf92140428dde49d034d5b87bd436c6eaace8a1199747bfc4ef972aa3a2
|
| 3 |
+
size 3190832
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/task_centric.partial.encoder.log
ADDED
|
File without changes
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/capture.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:54577f6dd70e6dca16015da1e21b59e09e86446cd479139079e98b9ed60a7404
|
| 3 |
+
size 20509367
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/manifest.json
ADDED
|
@@ -0,0 +1,289 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset_schema_version": "wam-quadruped-v2.1.0",
|
| 3 |
+
"profile_hash": "905d76c38f7c95a8bad986b945d1535f9ef0668476cc9f825005fc8d4da4603e",
|
| 4 |
+
"diagnostic_only": false,
|
| 5 |
+
"episode_uid": "demo_26-a1",
|
| 6 |
+
"n_actions": 477,
|
| 7 |
+
"n_boundaries": 478,
|
| 8 |
+
"reset_epoch": 0,
|
| 9 |
+
"streams": {
|
| 10 |
+
"policy": "streams/policy_50hz.parquet",
|
| 11 |
+
"controller": "streams/controller_100hz.parquet",
|
| 12 |
+
"physics": "streams/physics_500hz.parquet",
|
| 13 |
+
"contact_sensor": "streams/contact_sensor.parquet",
|
| 14 |
+
"camera_index": "streams/camera_index.parquet"
|
| 15 |
+
},
|
| 16 |
+
"stream_sha256": {
|
| 17 |
+
"policy": "9089405d585d122574b00bd5421c449edfec8239c4514ce89928983d85f61a51",
|
| 18 |
+
"controller": "c24f95ff2467d72ad173bfc6c2a9e61ed952ea7bb9b45f419cca86a01811a19c",
|
| 19 |
+
"physics": "fe17683949dbf0505cfdbb80be2213a6f61182690f7483c5f991a6aaa4244f5a",
|
| 20 |
+
"contact_sensor": "5d5fbc7ce235322e0d89b03062e1d27948a1f66f915d276ce1ac4a552580fe03",
|
| 21 |
+
"camera_index": "5b5db09f89042d068ec16671e8986359914d26cccb8266dbe05e40ce76bdca1f"
|
| 22 |
+
},
|
| 23 |
+
"videos": {
|
| 24 |
+
"observation.images.ego": {
|
| 25 |
+
"path": "cameras/ego.mp4",
|
| 26 |
+
"sha256": "a4a1892f89fb3343e05286d10f33212f89ea799f9005a67d7a46b04d00da10b2",
|
| 27 |
+
"encoding": {
|
| 28 |
+
"profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b",
|
| 29 |
+
"encoder": "libx264",
|
| 30 |
+
"crf": 18,
|
| 31 |
+
"preset": "medium",
|
| 32 |
+
"gop": 50,
|
| 33 |
+
"keyint_min": 50,
|
| 34 |
+
"scenecut": 0,
|
| 35 |
+
"color_range": "tv",
|
| 36 |
+
"command": [
|
| 37 |
+
"/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg",
|
| 38 |
+
"-hide_banner",
|
| 39 |
+
"-loglevel",
|
| 40 |
+
"error",
|
| 41 |
+
"-f",
|
| 42 |
+
"rawvideo",
|
| 43 |
+
"-pix_fmt",
|
| 44 |
+
"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 |
+
"-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",
|
| 79 |
+
"/home/jalen/workspace/WAM-Policy/data/lingbot_rambo/raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/ego.partial.mp4"
|
| 80 |
+
],
|
| 81 |
+
"encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers"
|
| 82 |
+
}
|
| 83 |
+
},
|
| 84 |
+
"observation.images.task_centric": {
|
| 85 |
+
"path": "cameras/task_centric.mp4",
|
| 86 |
+
"sha256": "e283acf92140428dde49d034d5b87bd436c6eaace8a1199747bfc4ef972aa3a2",
|
| 87 |
+
"encoding": {
|
| 88 |
+
"profile_hash": "a0e47115ce7452c9291188701f440e3dc0639fc721df240c7e7d10adc3d7564b",
|
| 89 |
+
"encoder": "libx264",
|
| 90 |
+
"crf": 18,
|
| 91 |
+
"preset": "medium",
|
| 92 |
+
"gop": 50,
|
| 93 |
+
"keyint_min": 50,
|
| 94 |
+
"scenecut": 0,
|
| 95 |
+
"color_range": "tv",
|
| 96 |
+
"command": [
|
| 97 |
+
"/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg",
|
| 98 |
+
"-hide_banner",
|
| 99 |
+
"-loglevel",
|
| 100 |
+
"error",
|
| 101 |
+
"-f",
|
| 102 |
+
"rawvideo",
|
| 103 |
+
"-pix_fmt",
|
| 104 |
+
"rgb24",
|
| 105 |
+
"-s",
|
| 106 |
+
"1280x720",
|
| 107 |
+
"-framerate",
|
| 108 |
+
"50",
|
| 109 |
+
"-i",
|
| 110 |
+
"pipe:0",
|
| 111 |
+
"-vf",
|
| 112 |
+
"scale=in_range=full:out_range=tv:out_color_matrix=bt709",
|
| 113 |
+
"-c:v",
|
| 114 |
+
"libx264",
|
| 115 |
+
"-threads",
|
| 116 |
+
"2",
|
| 117 |
+
"-crf",
|
| 118 |
+
"18",
|
| 119 |
+
"-preset",
|
| 120 |
+
"medium",
|
| 121 |
+
"-g",
|
| 122 |
+
"50",
|
| 123 |
+
"-keyint_min",
|
| 124 |
+
"50",
|
| 125 |
+
"-sc_threshold",
|
| 126 |
+
"0",
|
| 127 |
+
"-pix_fmt",
|
| 128 |
+
"yuv420p",
|
| 129 |
+
"-color_range",
|
| 130 |
+
"tv",
|
| 131 |
+
"-color_primaries",
|
| 132 |
+
"bt709",
|
| 133 |
+
"-color_trc",
|
| 134 |
+
"bt709",
|
| 135 |
+
"-colorspace",
|
| 136 |
+
"bt709",
|
| 137 |
+
"-fps_mode",
|
| 138 |
+
"cfr",
|
| 139 |
+
"/home/jalen/workspace/WAM-Policy/data/lingbot_rambo/raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/cameras/task_centric.partial.mp4"
|
| 140 |
+
],
|
| 141 |
+
"encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers"
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"observer": {
|
| 146 |
+
"present": true,
|
| 147 |
+
"source_key": "approved_fixed_observer",
|
| 148 |
+
"canonical_key": "monitor.images.observer",
|
| 149 |
+
"reason": "monitor only",
|
| 150 |
+
"path": "cameras/observer.mp4",
|
| 151 |
+
"crf": 23,
|
| 152 |
+
"sha256": "f60f4947d872a19cb0583f1fc70151480662140757b76e67349adcbf7beac8ae"
|
| 153 |
+
},
|
| 154 |
+
"terminal": {
|
| 155 |
+
"simulation_time_ns": 9540000000,
|
| 156 |
+
"state": {
|
| 157 |
+
"observation.state.base.position": [
|
| 158 |
+
0.6027748584747314,
|
| 159 |
+
0.06601226329803467,
|
| 160 |
+
0.2860175669193268
|
| 161 |
+
],
|
| 162 |
+
"observation.state.base.orientation": [
|
| 163 |
+
-0.004065882880240679,
|
| 164 |
+
0.014840135350823402,
|
| 165 |
+
-0.01468747016042471,
|
| 166 |
+
0.9997738003730774
|
| 167 |
+
],
|
| 168 |
+
"observation.state.base.linear_velocity": [
|
| 169 |
+
0.0844782218337059,
|
| 170 |
+
-0.0012560035102069378,
|
| 171 |
+
-0.03600039333105087
|
| 172 |
+
],
|
| 173 |
+
"observation.state.base.angular_velocity": [
|
| 174 |
+
0.4201548099517822,
|
| 175 |
+
-0.5707953572273254,
|
| 176 |
+
-0.05666887387633324
|
| 177 |
+
],
|
| 178 |
+
"observation.state.projected_gravity": [
|
| 179 |
+
0.029554123058915138,
|
| 180 |
+
0.008565854281187057,
|
| 181 |
+
-0.9995265007019043
|
| 182 |
+
],
|
| 183 |
+
"observation.state.joint_position": [
|
| 184 |
+
-0.13300321996212006,
|
| 185 |
+
0.5611806511878967,
|
| 186 |
+
0.024799074977636337,
|
| 187 |
+
-0.07077911496162415,
|
| 188 |
+
0.19154644012451172,
|
| 189 |
+
0.894839346408844,
|
| 190 |
+
0.9249782562255859,
|
| 191 |
+
0.9243273735046387,
|
| 192 |
+
-2.02571964263916,
|
| 193 |
+
-1.9247891902923584,
|
| 194 |
+
-1.7678234577178955,
|
| 195 |
+
-1.8473167419433594
|
| 196 |
+
],
|
| 197 |
+
"observation.state.joint_velocity": [
|
| 198 |
+
-0.15406222641468048,
|
| 199 |
+
-0.5382727980613708,
|
| 200 |
+
-0.46720919013023376,
|
| 201 |
+
-0.39750489592552185,
|
| 202 |
+
0.5661607980728149,
|
| 203 |
+
0.7633078694343567,
|
| 204 |
+
1.2875093221664429,
|
| 205 |
+
-1.6752201318740845,
|
| 206 |
+
0.9437066912651062,
|
| 207 |
+
0.311337947845459,
|
| 208 |
+
-0.7335476279258728,
|
| 209 |
+
-4.486513137817383
|
| 210 |
+
],
|
| 211 |
+
"observation.state.fl_ee_position": [
|
| 212 |
+
0.35347262024879456,
|
| 213 |
+
0.11927301436662674,
|
| 214 |
+
0.10950694978237152
|
| 215 |
+
],
|
| 216 |
+
"observation.state.fl_ee_velocity": [
|
| 217 |
+
0.05462830513715744,
|
| 218 |
+
0.012735530734062195,
|
| 219 |
+
-0.08134382218122482
|
| 220 |
+
],
|
| 221 |
+
"observation.state.fl_contact_force": [
|
| 222 |
+
0.0,
|
| 223 |
+
0.0,
|
| 224 |
+
0.0
|
| 225 |
+
],
|
| 226 |
+
"task.object.position": [
|
| 227 |
+
1.1454827785491943,
|
| 228 |
+
0.25802376866340637,
|
| 229 |
+
0.07512013614177704
|
| 230 |
+
],
|
| 231 |
+
"task.object.orientation": [
|
| 232 |
+
0.01641414873301983,
|
| 233 |
+
0.04701754078269005,
|
| 234 |
+
-0.1117648184299469,
|
| 235 |
+
0.9924860596656799
|
| 236 |
+
],
|
| 237 |
+
"task.object.linear_velocity": [
|
| 238 |
+
0.18255823850631714,
|
| 239 |
+
-0.01507488451898098,
|
| 240 |
+
0.0014683592598885298
|
| 241 |
+
],
|
| 242 |
+
"task.object.angular_velocity": [
|
| 243 |
+
0.014493404887616634,
|
| 244 |
+
-0.009162808768451214,
|
| 245 |
+
0.18943846225738525
|
| 246 |
+
],
|
| 247 |
+
"observation.state.foot_contact": [
|
| 248 |
+
false,
|
| 249 |
+
true,
|
| 250 |
+
true,
|
| 251 |
+
false
|
| 252 |
+
],
|
| 253 |
+
"task.goal.position": [
|
| 254 |
+
1.180327978456745,
|
| 255 |
+
0.15000000000000002,
|
| 256 |
+
0.0
|
| 257 |
+
],
|
| 258 |
+
"task.progress": [
|
| 259 |
+
0.4424475234521027
|
| 260 |
+
],
|
| 261 |
+
"task.success": [
|
| 262 |
+
true
|
| 263 |
+
],
|
| 264 |
+
"task.contact.fl_object": [
|
| 265 |
+
false
|
| 266 |
+
],
|
| 267 |
+
"task.contact.body_object": [
|
| 268 |
+
false
|
| 269 |
+
]
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
"extensions": {
|
| 273 |
+
"task_profile_version": "push-box-v2-2",
|
| 274 |
+
"contact_diagnostics": {
|
| 275 |
+
"path": "metadata/contact_provenance.json",
|
| 276 |
+
"sha256": "f63f3a6900a9b233e1ace92387b9e148a1682c4d005d5719151c5ec34720951e"
|
| 277 |
+
},
|
| 278 |
+
"provenance": {
|
| 279 |
+
"path": "metadata/provenance.json",
|
| 280 |
+
"sha256": "bba7e459ca0d965a5806b400de084a86a7e3c18b57901a031c10240e08415260"
|
| 281 |
+
},
|
| 282 |
+
"origin": "real_isaac_acquisition",
|
| 283 |
+
"purpose": "demonstration",
|
| 284 |
+
"task_review": {
|
| 285 |
+
"path": "metadata/task_review.json",
|
| 286 |
+
"sha256": "b0f5f7262bed7e3b3d8dbdd47c7924d9d46a99642ebadae77eb1bed8d04140a8"
|
| 287 |
+
}
|
| 288 |
+
}
|
| 289 |
+
}
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-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_26-a1/metadata/provenance.json
ADDED
|
@@ -0,0 +1,659 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"work_id": "DATA-006",
|
| 5 |
+
"authorization": "data006-expansion-v1",
|
| 6 |
+
"id": "demo_26",
|
| 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": 0,
|
| 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": 600760,
|
| 22 |
+
"face_x_m": 0.5456152975563952,
|
| 23 |
+
"center_y_m": 0.15165208854589404,
|
| 24 |
+
"goal_margin_x_m": 0.15989275157941155,
|
| 25 |
+
"goal_margin_y_m": 0.16630559131779732,
|
| 26 |
+
"base_speed_m_s": 0.11657574706086164,
|
| 27 |
+
"foot_x_m": 0.3664552812142357,
|
| 28 |
+
"transition_s": 0.47337611779005895
|
| 29 |
+
},
|
| 30 |
+
"selected_face": "local_x_min"
|
| 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 |
+
1.41065595691349
|
| 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": 0.0,
|
| 85 |
+
"push_face": "local_x_min",
|
| 86 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 87 |
+
"expert": {
|
| 88 |
+
"settle_seconds": 2.1,
|
| 89 |
+
"normal_approach_seconds": 1.0,
|
| 90 |
+
"standoff_m": 0.1,
|
| 91 |
+
"penetration_m": 0.015,
|
| 92 |
+
"align_base_speed": 0.14,
|
| 93 |
+
"push_base_speed": 0.11657574706086164,
|
| 94 |
+
"face_distance_for_foot_approach": 0.405,
|
| 95 |
+
"approach_foot_x": 0.28,
|
| 96 |
+
"push_foot_x": 0.3664552812142357,
|
| 97 |
+
"motion": "coordinated",
|
| 98 |
+
"transition_s": 0.47337611779005895,
|
| 99 |
+
"leg_finish_max_x": 0.4,
|
| 100 |
+
"lateral_tracking_gain": 2.0,
|
| 101 |
+
"lateral_tracking_limit_m": 0.015
|
| 102 |
+
},
|
| 103 |
+
"initial_face_distance_x": 0.54,
|
| 104 |
+
"goal_color": [
|
| 105 |
+
0.05,
|
| 106 |
+
0.8,
|
| 107 |
+
0.15
|
| 108 |
+
],
|
| 109 |
+
"episode_scenario": {
|
| 110 |
+
"work_id": "DATA-006",
|
| 111 |
+
"authorization": "data006-expansion-v1",
|
| 112 |
+
"id": "demo_26",
|
| 113 |
+
"asset": "box05",
|
| 114 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 115 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 116 |
+
"yaw_deg": 0,
|
| 117 |
+
"motion": "coordinated",
|
| 118 |
+
"color": "green",
|
| 119 |
+
"goal_color": [
|
| 120 |
+
0.05,
|
| 121 |
+
0.8,
|
| 122 |
+
0.15
|
| 123 |
+
],
|
| 124 |
+
"split": "train",
|
| 125 |
+
"parameters": {
|
| 126 |
+
"attempt": 1,
|
| 127 |
+
"seed": 600760,
|
| 128 |
+
"face_x_m": 0.5456152975563952,
|
| 129 |
+
"center_y_m": 0.15165208854589404,
|
| 130 |
+
"goal_margin_x_m": 0.15989275157941155,
|
| 131 |
+
"goal_margin_y_m": 0.16630559131779732,
|
| 132 |
+
"base_speed_m_s": 0.11657574706086164,
|
| 133 |
+
"foot_x_m": 0.3664552812142357,
|
| 134 |
+
"transition_s": 0.47337611779005895
|
| 135 |
+
},
|
| 136 |
+
"selected_face": "local_x_min"
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"implementation": {
|
| 140 |
+
"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
| 141 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 142 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "552ebed6140828cadb62353d3b453a4e2e18d8b44a10e0728cbe3f1a462eb239",
|
| 143 |
+
"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 144 |
+
"scripts/rambo/collect_push_box_v2.py": "a371b191e8af2b610724a176adff93081b370e5e49bcf6d16e90546d0df031b6",
|
| 145 |
+
"source/rambo/rambo/tasks/common/push_box_geometry.py": "188173248ec101e6dcbd637fd862ee5525f7737080ea7abaf6eba166b9bda8cd",
|
| 146 |
+
"source/rambo/rambo/tasks/common/push_box_expert.py": "d9dd98951cff88ae17c7fc75be08c082a00f6a69ba5a968792dd5d6d52d0bcbf",
|
| 147 |
+
"source/rambo/rambo/tasks/common/push_box_scenarios.py": "944c8150ed9a574705c03be33fda8ac0fcab709e6d5f779488b7a7411ff23e5f"
|
| 148 |
+
},
|
| 149 |
+
"source_commit": "a9083112f631ecd0db7c66d29cadff87deb2f24c",
|
| 150 |
+
"checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
|
| 151 |
+
"capture_sha256": "54577f6dd70e6dca16015da1e21b59e09e86446cd479139079e98b9ed60a7404",
|
| 152 |
+
"terminal_gate": {
|
| 153 |
+
"work_id": "DATA-006",
|
| 154 |
+
"scenario": {
|
| 155 |
+
"work_id": "DATA-006",
|
| 156 |
+
"authorization": "data006-expansion-v1",
|
| 157 |
+
"id": "demo_26",
|
| 158 |
+
"asset": "box05",
|
| 159 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 160 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 161 |
+
"yaw_deg": 0,
|
| 162 |
+
"motion": "coordinated",
|
| 163 |
+
"color": "green",
|
| 164 |
+
"goal_color": [
|
| 165 |
+
0.05,
|
| 166 |
+
0.8,
|
| 167 |
+
0.15
|
| 168 |
+
],
|
| 169 |
+
"split": "train",
|
| 170 |
+
"parameters": {
|
| 171 |
+
"attempt": 1,
|
| 172 |
+
"seed": 600760,
|
| 173 |
+
"face_x_m": 0.5456152975563952,
|
| 174 |
+
"center_y_m": 0.15165208854589404,
|
| 175 |
+
"goal_margin_x_m": 0.15989275157941155,
|
| 176 |
+
"goal_margin_y_m": 0.16630559131779732,
|
| 177 |
+
"base_speed_m_s": 0.11657574706086164,
|
| 178 |
+
"foot_x_m": 0.3664552812142357,
|
| 179 |
+
"transition_s": 0.47337611779005895
|
| 180 |
+
},
|
| 181 |
+
"selected_face": "local_x_min"
|
| 182 |
+
},
|
| 183 |
+
"mode": "demonstration",
|
| 184 |
+
"passed": true,
|
| 185 |
+
"implementation": {
|
| 186 |
+
"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
| 187 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 188 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "552ebed6140828cadb62353d3b453a4e2e18d8b44a10e0728cbe3f1a462eb239",
|
| 189 |
+
"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 190 |
+
"scripts/rambo/collect_push_box_v2.py": "a371b191e8af2b610724a176adff93081b370e5e49bcf6d16e90546d0df031b6",
|
| 191 |
+
"source/rambo/rambo/tasks/common/push_box_geometry.py": "188173248ec101e6dcbd637fd862ee5525f7737080ea7abaf6eba166b9bda8cd",
|
| 192 |
+
"source/rambo/rambo/tasks/common/push_box_expert.py": "d9dd98951cff88ae17c7fc75be08c082a00f6a69ba5a968792dd5d6d52d0bcbf",
|
| 193 |
+
"source/rambo/rambo/tasks/common/push_box_scenarios.py": "944c8150ed9a574705c03be33fda8ac0fcab709e6d5f779488b7a7411ff23e5f"
|
| 194 |
+
},
|
| 195 |
+
"profile": {
|
| 196 |
+
"task_profile_version": "push-box-v2-2",
|
| 197 |
+
"work_id": "DATA-006",
|
| 198 |
+
"approval": {
|
| 199 |
+
"status": "approved",
|
| 200 |
+
"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 201 |
+
"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 202 |
+
},
|
| 203 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 204 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 205 |
+
"scale": 1,
|
| 206 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 207 |
+
"initial_floor_clearance": 0.02,
|
| 208 |
+
"goal_x": [
|
| 209 |
+
0.95,
|
| 210 |
+
1.41065595691349
|
| 211 |
+
],
|
| 212 |
+
"goal_y": [
|
| 213 |
+
-0.1,
|
| 214 |
+
0.4
|
| 215 |
+
],
|
| 216 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 217 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 218 |
+
"fall": {
|
| 219 |
+
"base_height_lt": 0.1,
|
| 220 |
+
"projected_gravity_error_gt": 0.75
|
| 221 |
+
},
|
| 222 |
+
"contact": {
|
| 223 |
+
"role": "diagnostic_only",
|
| 224 |
+
"unavailable": "unknown",
|
| 225 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 226 |
+
},
|
| 227 |
+
"observer": {
|
| 228 |
+
"position": [
|
| 229 |
+
1.8,
|
| 230 |
+
2.0,
|
| 231 |
+
1.5
|
| 232 |
+
],
|
| 233 |
+
"look_at": [
|
| 234 |
+
0.65,
|
| 235 |
+
0.1,
|
| 236 |
+
0.2
|
| 237 |
+
],
|
| 238 |
+
"fps": 25,
|
| 239 |
+
"model_input": false
|
| 240 |
+
},
|
| 241 |
+
"policy_rgb_fps": 50,
|
| 242 |
+
"policy_fps": 50,
|
| 243 |
+
"controller_fps": 100,
|
| 244 |
+
"physics_fps": 500,
|
| 245 |
+
"force_zero": true,
|
| 246 |
+
"success_policy_ticks": 3,
|
| 247 |
+
"initial_box_yaw_rad": 0.0,
|
| 248 |
+
"push_face": "local_x_min",
|
| 249 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 250 |
+
"expert": {
|
| 251 |
+
"settle_seconds": 2.1,
|
| 252 |
+
"normal_approach_seconds": 1.0,
|
| 253 |
+
"standoff_m": 0.1,
|
| 254 |
+
"penetration_m": 0.015,
|
| 255 |
+
"align_base_speed": 0.14,
|
| 256 |
+
"push_base_speed": 0.11657574706086164,
|
| 257 |
+
"face_distance_for_foot_approach": 0.405,
|
| 258 |
+
"approach_foot_x": 0.28,
|
| 259 |
+
"push_foot_x": 0.3664552812142357,
|
| 260 |
+
"motion": "coordinated",
|
| 261 |
+
"transition_s": 0.47337611779005895,
|
| 262 |
+
"leg_finish_max_x": 0.4,
|
| 263 |
+
"lateral_tracking_gain": 2.0,
|
| 264 |
+
"lateral_tracking_limit_m": 0.015
|
| 265 |
+
},
|
| 266 |
+
"initial_face_distance_x": 0.54,
|
| 267 |
+
"goal_color": [
|
| 268 |
+
0.05,
|
| 269 |
+
0.8,
|
| 270 |
+
0.15
|
| 271 |
+
],
|
| 272 |
+
"episode_scenario": {
|
| 273 |
+
"work_id": "DATA-006",
|
| 274 |
+
"authorization": "data006-expansion-v1",
|
| 275 |
+
"id": "demo_26",
|
| 276 |
+
"asset": "box05",
|
| 277 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc",
|
| 278 |
+
"asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5",
|
| 279 |
+
"yaw_deg": 0,
|
| 280 |
+
"motion": "coordinated",
|
| 281 |
+
"color": "green",
|
| 282 |
+
"goal_color": [
|
| 283 |
+
0.05,
|
| 284 |
+
0.8,
|
| 285 |
+
0.15
|
| 286 |
+
],
|
| 287 |
+
"split": "train",
|
| 288 |
+
"parameters": {
|
| 289 |
+
"attempt": 1,
|
| 290 |
+
"seed": 600760,
|
| 291 |
+
"face_x_m": 0.5456152975563952,
|
| 292 |
+
"center_y_m": 0.15165208854589404,
|
| 293 |
+
"goal_margin_x_m": 0.15989275157941155,
|
| 294 |
+
"goal_margin_y_m": 0.16630559131779732,
|
| 295 |
+
"base_speed_m_s": 0.11657574706086164,
|
| 296 |
+
"foot_x_m": 0.3664552812142357,
|
| 297 |
+
"transition_s": 0.47337611779005895
|
| 298 |
+
},
|
| 299 |
+
"selected_face": "local_x_min"
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"dataset_episode": true,
|
| 303 |
+
"initial_geometry": {
|
| 304 |
+
"source": {
|
| 305 |
+
"low": [
|
| 306 |
+
-0.1421108788345009,
|
| 307 |
+
-0.16777700930833817,
|
| 308 |
+
-0.08067391440272331
|
| 309 |
+
],
|
| 310 |
+
"high": [
|
| 311 |
+
0.1586523264995776,
|
| 312 |
+
0.0067610666155815125,
|
| 313 |
+
0.1457897126674652
|
| 314 |
+
],
|
| 315 |
+
"dimensions": [
|
| 316 |
+
0.3007632053340785,
|
| 317 |
+
0.17453807592391968,
|
| 318 |
+
0.22646362707018852
|
| 319 |
+
],
|
| 320 |
+
"center": [
|
| 321 |
+
0.008270723832538351,
|
| 322 |
+
-0.08050797134637833,
|
| 323 |
+
0.03255789913237095
|
| 324 |
+
],
|
| 325 |
+
"face_center": [
|
| 326 |
+
-0.1421108788345009,
|
| 327 |
+
-0.08050797134637833,
|
| 328 |
+
0.03255789913237095
|
| 329 |
+
],
|
| 330 |
+
"face_normal": [
|
| 331 |
+
-1.0,
|
| 332 |
+
0.0,
|
| 333 |
+
0.0
|
| 334 |
+
],
|
| 335 |
+
"face": "local_x_min",
|
| 336 |
+
"corners": [
|
| 337 |
+
[
|
| 338 |
+
-0.1421108788345009,
|
| 339 |
+
-0.16777700930833817,
|
| 340 |
+
-0.08067391440272331
|
| 341 |
+
],
|
| 342 |
+
[
|
| 343 |
+
-0.1421108788345009,
|
| 344 |
+
-0.16777700930833817,
|
| 345 |
+
0.1457897126674652
|
| 346 |
+
],
|
| 347 |
+
[
|
| 348 |
+
-0.1421108788345009,
|
| 349 |
+
0.0067610666155815125,
|
| 350 |
+
-0.08067391440272331
|
| 351 |
+
],
|
| 352 |
+
[
|
| 353 |
+
-0.1421108788345009,
|
| 354 |
+
0.0067610666155815125,
|
| 355 |
+
0.1457897126674652
|
| 356 |
+
],
|
| 357 |
+
[
|
| 358 |
+
0.1586523264995776,
|
| 359 |
+
-0.16777700930833817,
|
| 360 |
+
-0.08067391440272331
|
| 361 |
+
],
|
| 362 |
+
[
|
| 363 |
+
0.1586523264995776,
|
| 364 |
+
-0.16777700930833817,
|
| 365 |
+
0.1457897126674652
|
| 366 |
+
],
|
| 367 |
+
[
|
| 368 |
+
0.1586523264995776,
|
| 369 |
+
0.0067610666155815125,
|
| 370 |
+
-0.08067391440272331
|
| 371 |
+
],
|
| 372 |
+
[
|
| 373 |
+
0.1586523264995776,
|
| 374 |
+
0.0067610666155815125,
|
| 375 |
+
0.1457897126674652
|
| 376 |
+
]
|
| 377 |
+
]
|
| 378 |
+
},
|
| 379 |
+
"world": {
|
| 380 |
+
"center": [
|
| 381 |
+
0.6959969002234344,
|
| 382 |
+
0.15165208854589404,
|
| 383 |
+
0.13323181353509428
|
| 384 |
+
],
|
| 385 |
+
"face_center": [
|
| 386 |
+
0.5456152975563952,
|
| 387 |
+
0.15165208854589404,
|
| 388 |
+
0.13323181353509428
|
| 389 |
+
],
|
| 390 |
+
"face_normal": [
|
| 391 |
+
-1.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0
|
| 394 |
+
],
|
| 395 |
+
"footprint_xy": [
|
| 396 |
+
[
|
| 397 |
+
0.5456152975563952,
|
| 398 |
+
0.0643830505839342
|
| 399 |
+
],
|
| 400 |
+
[
|
| 401 |
+
0.8463785028904737,
|
| 402 |
+
0.0643830505839342
|
| 403 |
+
],
|
| 404 |
+
[
|
| 405 |
+
0.8463785028904737,
|
| 406 |
+
0.23892112650785388
|
| 407 |
+
],
|
| 408 |
+
[
|
| 409 |
+
0.5456152975563952,
|
| 410 |
+
0.23892112650785388
|
| 411 |
+
]
|
| 412 |
+
],
|
| 413 |
+
"projected_box_corners": [
|
| 414 |
+
[
|
| 415 |
+
0.5456152975563952,
|
| 416 |
+
0.0643830505839342
|
| 417 |
+
],
|
| 418 |
+
[
|
| 419 |
+
0.5456152975563952,
|
| 420 |
+
0.0643830505839342
|
| 421 |
+
],
|
| 422 |
+
[
|
| 423 |
+
0.5456152975563952,
|
| 424 |
+
0.23892112650785388
|
| 425 |
+
],
|
| 426 |
+
[
|
| 427 |
+
0.5456152975563952,
|
| 428 |
+
0.23892112650785388
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
0.8463785028904737,
|
| 432 |
+
0.0643830505839342
|
| 433 |
+
],
|
| 434 |
+
[
|
| 435 |
+
0.8463785028904737,
|
| 436 |
+
0.0643830505839342
|
| 437 |
+
],
|
| 438 |
+
[
|
| 439 |
+
0.8463785028904737,
|
| 440 |
+
0.23892112650785388
|
| 441 |
+
],
|
| 442 |
+
[
|
| 443 |
+
0.8463785028904737,
|
| 444 |
+
0.23892112650785388
|
| 445 |
+
]
|
| 446 |
+
],
|
| 447 |
+
"yaw_rad": 0.0
|
| 448 |
+
},
|
| 449 |
+
"box_pose": [
|
| 450 |
+
0.6877261763908961,
|
| 451 |
+
0.23216005989227237,
|
| 452 |
+
0.10067391440272332,
|
| 453 |
+
0.0,
|
| 454 |
+
0.0,
|
| 455 |
+
0.0,
|
| 456 |
+
1.0
|
| 457 |
+
],
|
| 458 |
+
"robot_config_position": [
|
| 459 |
+
0.0,
|
| 460 |
+
0.0,
|
| 461 |
+
0.3
|
| 462 |
+
]
|
| 463 |
+
},
|
| 464 |
+
"terminal_before_reset": true,
|
| 465 |
+
"terminal_simulation_time_ns": 9540000000,
|
| 466 |
+
"n_actions": 477,
|
| 467 |
+
"n_boundaries": 478,
|
| 468 |
+
"reset_events": [
|
| 469 |
+
"reset_enter_after_terminal_copy",
|
| 470 |
+
"reset_exit"
|
| 471 |
+
],
|
| 472 |
+
"terminal_vs_reset": {
|
| 473 |
+
"ego": {
|
| 474 |
+
"pre_reset_sha256": "f61d305d2bf401fc91da21054c62a500ba39e6603e25abf4cd9352433a617e7f",
|
| 475 |
+
"post_reset_sha256": "7cf68963e9a50f972946b1f64558beebab7cc57c2c894b455d61dad8187d98ee",
|
| 476 |
+
"mean_absolute_pixel_difference": 14.604796006944444
|
| 477 |
+
},
|
| 478 |
+
"task_centric": {
|
| 479 |
+
"pre_reset_sha256": "d51829e1a1ef09a63514c600cf81fe7983d08a557e4f943387b74e4aac34bf11",
|
| 480 |
+
"post_reset_sha256": "19fe45184c2f53fc3987afd26fdb577ac366b0215eb9e47f750272c41751b93d",
|
| 481 |
+
"mean_absolute_pixel_difference": 35.16889576099537
|
| 482 |
+
}
|
| 483 |
+
},
|
| 484 |
+
"state_difference_m": 0.6027748584747314,
|
| 485 |
+
"status": "success",
|
| 486 |
+
"physics": {
|
| 487 |
+
"requested_cfg": "isaaclab_physx.physics.physx_manager_cfg.PhysxCfg",
|
| 488 |
+
"actual_manager": "isaaclab_physx.physics.physx_manager.PhysxManager",
|
| 489 |
+
"configured_manager": "isaaclab_physx.physics.physx_manager.PhysxManager",
|
| 490 |
+
"use_newton_actuators": false,
|
| 491 |
+
"physics_dt_s": 0.002,
|
| 492 |
+
"device": "cuda:0"
|
| 493 |
+
},
|
| 494 |
+
"contact_provenance": "unknown_diagnostic_only"
|
| 495 |
+
},
|
| 496 |
+
"collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench",
|
| 497 |
+
"fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4",
|
| 498 |
+
"initial_geometry": {
|
| 499 |
+
"source": {
|
| 500 |
+
"low": [
|
| 501 |
+
-0.1421108788345009,
|
| 502 |
+
-0.16777700930833817,
|
| 503 |
+
-0.08067391440272331
|
| 504 |
+
],
|
| 505 |
+
"high": [
|
| 506 |
+
0.1586523264995776,
|
| 507 |
+
0.0067610666155815125,
|
| 508 |
+
0.1457897126674652
|
| 509 |
+
],
|
| 510 |
+
"dimensions": [
|
| 511 |
+
0.3007632053340785,
|
| 512 |
+
0.17453807592391968,
|
| 513 |
+
0.22646362707018852
|
| 514 |
+
],
|
| 515 |
+
"center": [
|
| 516 |
+
0.008270723832538351,
|
| 517 |
+
-0.08050797134637833,
|
| 518 |
+
0.03255789913237095
|
| 519 |
+
],
|
| 520 |
+
"face_center": [
|
| 521 |
+
-0.1421108788345009,
|
| 522 |
+
-0.08050797134637833,
|
| 523 |
+
0.03255789913237095
|
| 524 |
+
],
|
| 525 |
+
"face_normal": [
|
| 526 |
+
-1.0,
|
| 527 |
+
0.0,
|
| 528 |
+
0.0
|
| 529 |
+
],
|
| 530 |
+
"face": "local_x_min",
|
| 531 |
+
"corners": [
|
| 532 |
+
[
|
| 533 |
+
-0.1421108788345009,
|
| 534 |
+
-0.16777700930833817,
|
| 535 |
+
-0.08067391440272331
|
| 536 |
+
],
|
| 537 |
+
[
|
| 538 |
+
-0.1421108788345009,
|
| 539 |
+
-0.16777700930833817,
|
| 540 |
+
0.1457897126674652
|
| 541 |
+
],
|
| 542 |
+
[
|
| 543 |
+
-0.1421108788345009,
|
| 544 |
+
0.0067610666155815125,
|
| 545 |
+
-0.08067391440272331
|
| 546 |
+
],
|
| 547 |
+
[
|
| 548 |
+
-0.1421108788345009,
|
| 549 |
+
0.0067610666155815125,
|
| 550 |
+
0.1457897126674652
|
| 551 |
+
],
|
| 552 |
+
[
|
| 553 |
+
0.1586523264995776,
|
| 554 |
+
-0.16777700930833817,
|
| 555 |
+
-0.08067391440272331
|
| 556 |
+
],
|
| 557 |
+
[
|
| 558 |
+
0.1586523264995776,
|
| 559 |
+
-0.16777700930833817,
|
| 560 |
+
0.1457897126674652
|
| 561 |
+
],
|
| 562 |
+
[
|
| 563 |
+
0.1586523264995776,
|
| 564 |
+
0.0067610666155815125,
|
| 565 |
+
-0.08067391440272331
|
| 566 |
+
],
|
| 567 |
+
[
|
| 568 |
+
0.1586523264995776,
|
| 569 |
+
0.0067610666155815125,
|
| 570 |
+
0.1457897126674652
|
| 571 |
+
]
|
| 572 |
+
]
|
| 573 |
+
},
|
| 574 |
+
"world": {
|
| 575 |
+
"center": [
|
| 576 |
+
0.6959969002234344,
|
| 577 |
+
0.15165208854589404,
|
| 578 |
+
0.13323181353509428
|
| 579 |
+
],
|
| 580 |
+
"face_center": [
|
| 581 |
+
0.5456152975563952,
|
| 582 |
+
0.15165208854589404,
|
| 583 |
+
0.13323181353509428
|
| 584 |
+
],
|
| 585 |
+
"face_normal": [
|
| 586 |
+
-1.0,
|
| 587 |
+
0.0,
|
| 588 |
+
0.0
|
| 589 |
+
],
|
| 590 |
+
"footprint_xy": [
|
| 591 |
+
[
|
| 592 |
+
0.5456152975563952,
|
| 593 |
+
0.0643830505839342
|
| 594 |
+
],
|
| 595 |
+
[
|
| 596 |
+
0.8463785028904737,
|
| 597 |
+
0.0643830505839342
|
| 598 |
+
],
|
| 599 |
+
[
|
| 600 |
+
0.8463785028904737,
|
| 601 |
+
0.23892112650785388
|
| 602 |
+
],
|
| 603 |
+
[
|
| 604 |
+
0.5456152975563952,
|
| 605 |
+
0.23892112650785388
|
| 606 |
+
]
|
| 607 |
+
],
|
| 608 |
+
"projected_box_corners": [
|
| 609 |
+
[
|
| 610 |
+
0.5456152975563952,
|
| 611 |
+
0.0643830505839342
|
| 612 |
+
],
|
| 613 |
+
[
|
| 614 |
+
0.5456152975563952,
|
| 615 |
+
0.0643830505839342
|
| 616 |
+
],
|
| 617 |
+
[
|
| 618 |
+
0.5456152975563952,
|
| 619 |
+
0.23892112650785388
|
| 620 |
+
],
|
| 621 |
+
[
|
| 622 |
+
0.5456152975563952,
|
| 623 |
+
0.23892112650785388
|
| 624 |
+
],
|
| 625 |
+
[
|
| 626 |
+
0.8463785028904737,
|
| 627 |
+
0.0643830505839342
|
| 628 |
+
],
|
| 629 |
+
[
|
| 630 |
+
0.8463785028904737,
|
| 631 |
+
0.0643830505839342
|
| 632 |
+
],
|
| 633 |
+
[
|
| 634 |
+
0.8463785028904737,
|
| 635 |
+
0.23892112650785388
|
| 636 |
+
],
|
| 637 |
+
[
|
| 638 |
+
0.8463785028904737,
|
| 639 |
+
0.23892112650785388
|
| 640 |
+
]
|
| 641 |
+
],
|
| 642 |
+
"yaw_rad": 0.0
|
| 643 |
+
},
|
| 644 |
+
"box_pose": [
|
| 645 |
+
0.6877261763908961,
|
| 646 |
+
0.23216005989227237,
|
| 647 |
+
0.10067391440272332,
|
| 648 |
+
0.0,
|
| 649 |
+
0.0,
|
| 650 |
+
0.0,
|
| 651 |
+
1.0
|
| 652 |
+
],
|
| 653 |
+
"robot_config_position": [
|
| 654 |
+
0.0,
|
| 655 |
+
0.0,
|
| 656 |
+
0.3
|
| 657 |
+
]
|
| 658 |
+
}
|
| 659 |
+
}
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/metadata/task_review.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/raw-validation.json
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"contract_valid": true,
|
| 3 |
+
"diagnostic_only": false,
|
| 4 |
+
"raw_actions": 477,
|
| 5 |
+
"raw_boundaries": 478,
|
| 6 |
+
"physics_steps": 4770,
|
| 7 |
+
"controller_steps": 954,
|
| 8 |
+
"sensor_updates": 955,
|
| 9 |
+
"sensor_rate": "observed timestamps, not assumed 200Hz",
|
| 10 |
+
"video_validation": "passed",
|
| 11 |
+
"published": false
|
| 12 |
+
}
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/review/post_reset_ego.png
ADDED
|
Git LFS Details
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/review/post_reset_task_centric.png
ADDED
|
Git LFS Details
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/review/terminal_pre_reset_ego.png
ADDED
|
Git LFS Details
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/review/terminal_pre_reset_task_centric.png
ADDED
|
Git LFS Details
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/streams/camera_index.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5b5db09f89042d068ec16671e8986359914d26cccb8266dbe05e40ce76bdca1f
|
| 3 |
+
size 12559
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/streams/contact_sensor.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5d5fbc7ce235322e0d89b03062e1d27948a1f66f915d276ce1ac4a552580fe03
|
| 3 |
+
size 73881
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/streams/controller_100hz.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c24f95ff2467d72ad173bfc6c2a9e61ed952ea7bb9b45f419cca86a01811a19c
|
| 3 |
+
size 348058
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_26-a1/streams/physics_500hz.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fe17683949dbf0505cfdbb80be2213a6f61182690f7483c5f991a6aaa4244f5a
|
| 3 |
+
size 1887929
|