[DATA-007] DATA-006-20260916T075451Z payload 1400/1616
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_38-a1/manifest.json +289 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/metadata/contact_provenance.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/metadata/provenance.json +659 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/metadata/task_review.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/raw-validation.json +12 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/review/post_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/review/post_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/streams/camera_index.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/streams/contact_sensor.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/streams/controller_100hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/streams/physics_500hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/summary.json +344 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/cameras/ego.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/cameras/ego.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/cameras/observer.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/cameras/observer.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/cameras/task_centric.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/capture.json +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/manifest.json +289 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/metadata/contact_provenance.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/metadata/provenance.json +659 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/metadata/task_review.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/raw-validation.json +12 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/review/post_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/review/post_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/streams/camera_index.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/streams/contact_sensor.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/streams/controller_100hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/streams/physics_500hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/streams/policy_50hz.parquet +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/summary.json +344 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/cameras/ego.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/cameras/ego.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/cameras/observer.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/cameras/observer.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/cameras/task_centric.mp4 +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/capture.json +3 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/manifest.json +289 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/metadata/contact_provenance.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/metadata/provenance.json +659 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/metadata/task_review.json +0 -0
- raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/raw-validation.json +12 -0
.gitattributes
CHANGED
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_36-a2/capture.json filter=lfs diff=lfs merge=lfs -text
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_37-a3/capture.json filter=lfs diff=lfs merge=lfs -text
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/capture.json filter=lfs diff=lfs merge=lfs -text
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_36-a2/capture.json filter=lfs diff=lfs merge=lfs -text
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_37-a3/capture.json filter=lfs diff=lfs merge=lfs -text
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/capture.json filter=lfs diff=lfs merge=lfs -text
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/capture.json filter=lfs diff=lfs merge=lfs -text
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/capture.json filter=lfs diff=lfs merge=lfs -text
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_41-a1/capture.json filter=lfs diff=lfs merge=lfs -text
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_42-a1/capture.json filter=lfs diff=lfs merge=lfs -text
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/manifest.json
ADDED
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| 1 |
+
{
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| 2 |
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"dataset_schema_version": "wam-quadruped-v2.1.0",
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"diagnostic_only": false,
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"policy": "streams/policy_50hz.parquet",
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"physics": "streams/physics_500hz.parquet",
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"camera_index": "streams/camera_index.parquet"
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},
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"stream_sha256": {
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"policy": "dbe340ec98a12ce3c7ec86ba2fdd60a81870864a92ebad923edbb5a7d2497055",
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"controller": "9583a419d13b670f364de9408ae8eeaa553f8eff4c9949f777d1de22e0dfb69e",
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"physics": "746a0371961ef5ec8bf07168d235748f89fa566dd3bb5ecf2cc1e80007e6933a",
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},
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"scenecut": 0,
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"color_range": "tv",
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"command": [
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"-loglevel",
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| 40 |
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"error",
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"-f",
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"rawvideo",
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"1280x720",
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"-i",
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"scale=in_range=full:out_range=tv:out_color_matrix=bt709",
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"-c:v",
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"libx264",
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"-threads",
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"-color_range",
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"tv",
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"-color_primaries",
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"bt709",
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"-color_trc",
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"bt709",
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"-colorspace",
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"bt709",
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"-fps_mode",
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"cfr",
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"/home/jalen/workspace/WAM-Policy/data/lingbot_rambo/raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/cameras/ego.partial.mp4"
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| 80 |
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],
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"encoder_version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers"
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}
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},
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"observation.images.task_centric": {
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"path": "cameras/task_centric.mp4",
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"sha256": "d08fc9c477c8e6240e8570f92f4423699dd0f8a4049679f1144d296324d01824",
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"encoding": {
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"encoder": "libx264",
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"crf": 18,
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"preset": "medium",
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"gop": 50,
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"keyint_min": 50,
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"scenecut": 0,
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"color_range": "tv",
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"command": [
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"/home/jalen/workspace/WAM-Policy/cache/tools/bin/ffmpeg",
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"-hide_banner",
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"-loglevel",
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"error",
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"-f",
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"rawvideo",
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"-pix_fmt",
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"rgb24",
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"-s",
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"1280x720",
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"-framerate",
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"50",
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"-i",
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"pipe:0",
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"-vf",
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"scale=in_range=full:out_range=tv:out_color_matrix=bt709",
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"-c:v",
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/metadata/contact_provenance.json
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The diff for this file is too large to render.
See raw diff
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_38-a1/metadata/provenance.json
ADDED
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@@ -0,0 +1,659 @@
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|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"work_id": "DATA-006",
|
| 5 |
+
"authorization": "data006-expansion-v1",
|
| 6 |
+
"id": "demo_38",
|
| 7 |
+
"asset": "box01",
|
| 8 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
|
| 9 |
+
"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 10 |
+
"yaw_deg": 0,
|
| 11 |
+
"motion": "coordinated",
|
| 12 |
+
"color": "orange",
|
| 13 |
+
"goal_color": [
|
| 14 |
+
1.0,
|
| 15 |
+
0.45,
|
| 16 |
+
0.05
|
| 17 |
+
],
|
| 18 |
+
"split": "train",
|
| 19 |
+
"parameters": {
|
| 20 |
+
"attempt": 1,
|
| 21 |
+
"seed": 600880,
|
| 22 |
+
"face_x_m": 0.55834630303728,
|
| 23 |
+
"center_y_m": 0.14155448193460146,
|
| 24 |
+
"goal_margin_x_m": 0.11500789430588895,
|
| 25 |
+
"goal_margin_y_m": 0.1568175573321705,
|
| 26 |
+
"base_speed_m_s": 0.10886788586558148,
|
| 27 |
+
"foot_x_m": 0.36038793050512025,
|
| 28 |
+
"transition_s": 0.34476931155628643
|
| 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/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
|
| 41 |
+
"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 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 |
+
1.35
|
| 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": 0.10886788586558148,
|
| 94 |
+
"face_distance_for_foot_approach": 0.405,
|
| 95 |
+
"approach_foot_x": 0.28,
|
| 96 |
+
"push_foot_x": 0.36038793050512025,
|
| 97 |
+
"motion": "coordinated",
|
| 98 |
+
"transition_s": 0.34476931155628643,
|
| 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 |
+
1.0,
|
| 106 |
+
0.45,
|
| 107 |
+
0.05
|
| 108 |
+
],
|
| 109 |
+
"episode_scenario": {
|
| 110 |
+
"work_id": "DATA-006",
|
| 111 |
+
"authorization": "data006-expansion-v1",
|
| 112 |
+
"id": "demo_38",
|
| 113 |
+
"asset": "box01",
|
| 114 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
|
| 115 |
+
"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 116 |
+
"yaw_deg": 0,
|
| 117 |
+
"motion": "coordinated",
|
| 118 |
+
"color": "orange",
|
| 119 |
+
"goal_color": [
|
| 120 |
+
1.0,
|
| 121 |
+
0.45,
|
| 122 |
+
0.05
|
| 123 |
+
],
|
| 124 |
+
"split": "train",
|
| 125 |
+
"parameters": {
|
| 126 |
+
"attempt": 1,
|
| 127 |
+
"seed": 600880,
|
| 128 |
+
"face_x_m": 0.55834630303728,
|
| 129 |
+
"center_y_m": 0.14155448193460146,
|
| 130 |
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|
| 131 |
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"goal_margin_y_m": 0.1568175573321705,
|
| 132 |
+
"base_speed_m_s": 0.10886788586558148,
|
| 133 |
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"foot_x_m": 0.36038793050512025,
|
| 134 |
+
"transition_s": 0.34476931155628643
|
| 135 |
+
},
|
| 136 |
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"selected_face": "local_x_min"
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"implementation": {
|
| 140 |
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"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
| 141 |
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"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 142 |
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"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "552ebed6140828cadb62353d3b453a4e2e18d8b44a10e0728cbe3f1a462eb239",
|
| 143 |
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"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 144 |
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"scripts/rambo/collect_push_box_v2.py": "a371b191e8af2b610724a176adff93081b370e5e49bcf6d16e90546d0df031b6",
|
| 145 |
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"source/rambo/rambo/tasks/common/push_box_geometry.py": "188173248ec101e6dcbd637fd862ee5525f7737080ea7abaf6eba166b9bda8cd",
|
| 146 |
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"source/rambo/rambo/tasks/common/push_box_expert.py": "d9dd98951cff88ae17c7fc75be08c082a00f6a69ba5a968792dd5d6d52d0bcbf",
|
| 147 |
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"source/rambo/rambo/tasks/common/push_box_scenarios.py": "944c8150ed9a574705c03be33fda8ac0fcab709e6d5f779488b7a7411ff23e5f"
|
| 148 |
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},
|
| 149 |
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"source_commit": "a9083112f631ecd0db7c66d29cadff87deb2f24c",
|
| 150 |
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"checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
|
| 151 |
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"capture_sha256": "e4db17675db5cb3ed3b45748afa9a9556511ca7078c8d4f9bab7b6e8364a08ee",
|
| 152 |
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"terminal_gate": {
|
| 153 |
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"work_id": "DATA-006",
|
| 154 |
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"scenario": {
|
| 155 |
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"work_id": "DATA-006",
|
| 156 |
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"authorization": "data006-expansion-v1",
|
| 157 |
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"id": "demo_38",
|
| 158 |
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"asset": "box01",
|
| 159 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
|
| 160 |
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"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 161 |
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"yaw_deg": 0,
|
| 162 |
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"motion": "coordinated",
|
| 163 |
+
"color": "orange",
|
| 164 |
+
"goal_color": [
|
| 165 |
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1.0,
|
| 166 |
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0.45,
|
| 167 |
+
0.05
|
| 168 |
+
],
|
| 169 |
+
"split": "train",
|
| 170 |
+
"parameters": {
|
| 171 |
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"attempt": 1,
|
| 172 |
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"seed": 600880,
|
| 173 |
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"face_x_m": 0.55834630303728,
|
| 174 |
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"center_y_m": 0.14155448193460146,
|
| 175 |
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"goal_margin_x_m": 0.11500789430588895,
|
| 176 |
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"goal_margin_y_m": 0.1568175573321705,
|
| 177 |
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"base_speed_m_s": 0.10886788586558148,
|
| 178 |
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"foot_x_m": 0.36038793050512025,
|
| 179 |
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|
| 180 |
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},
|
| 181 |
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"selected_face": "local_x_min"
|
| 182 |
+
},
|
| 183 |
+
"mode": "demonstration",
|
| 184 |
+
"passed": true,
|
| 185 |
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"implementation": {
|
| 186 |
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"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
| 187 |
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"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 188 |
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"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "552ebed6140828cadb62353d3b453a4e2e18d8b44a10e0728cbe3f1a462eb239",
|
| 189 |
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"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 190 |
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"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/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
|
| 204 |
+
"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 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 |
+
1.35
|
| 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 |
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{
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| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
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|
| 31 |
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| 32 |
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| 33 |
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|
| 34 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 51 |
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|
| 52 |
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"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
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|
| 55 |
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|
| 56 |
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| 57 |
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|
| 60 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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"role": "diagnostic_only",
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"position": [
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| 78 |
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| 79 |
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| 84 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
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|
| 105 |
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The diff for this file is too large to render.
See raw diff
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_39-a1/metadata/provenance.json
ADDED
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@@ -0,0 +1,659 @@
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|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"work_id": "DATA-006",
|
| 5 |
+
"authorization": "data006-expansion-v1",
|
| 6 |
+
"id": "demo_39",
|
| 7 |
+
"asset": "box01",
|
| 8 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
|
| 9 |
+
"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 10 |
+
"yaw_deg": 90,
|
| 11 |
+
"motion": "body_finish",
|
| 12 |
+
"color": "purple",
|
| 13 |
+
"goal_color": [
|
| 14 |
+
0.65,
|
| 15 |
+
0.15,
|
| 16 |
+
0.9
|
| 17 |
+
],
|
| 18 |
+
"split": "train",
|
| 19 |
+
"parameters": {
|
| 20 |
+
"attempt": 1,
|
| 21 |
+
"seed": 600890,
|
| 22 |
+
"face_x_m": 0.52699005886963,
|
| 23 |
+
"center_y_m": 0.14718727972565046,
|
| 24 |
+
"goal_margin_x_m": 0.1119678434327196,
|
| 25 |
+
"goal_margin_y_m": 0.1394060824333871,
|
| 26 |
+
"base_speed_m_s": 0.10713657085676276,
|
| 27 |
+
"foot_x_m": 0.3379767111714997,
|
| 28 |
+
"transition_s": 0.5864527462280598
|
| 29 |
+
},
|
| 30 |
+
"selected_face": "local_y_max"
|
| 31 |
+
},
|
| 32 |
+
"task_profile": {
|
| 33 |
+
"task_profile_version": "push-box-v2-2",
|
| 34 |
+
"work_id": "DATA-006",
|
| 35 |
+
"approval": {
|
| 36 |
+
"status": "approved",
|
| 37 |
+
"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 38 |
+
"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 39 |
+
},
|
| 40 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
|
| 41 |
+
"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 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 |
+
1.35
|
| 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": 1.5707963267948966,
|
| 85 |
+
"push_face": "local_y_max",
|
| 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": 0.10713657085676276,
|
| 94 |
+
"face_distance_for_foot_approach": 0.405,
|
| 95 |
+
"approach_foot_x": 0.28,
|
| 96 |
+
"push_foot_x": 0.3379767111714997,
|
| 97 |
+
"motion": "body_finish",
|
| 98 |
+
"transition_s": 0.5864527462280598,
|
| 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 |
+
0.65,
|
| 106 |
+
0.15,
|
| 107 |
+
0.9
|
| 108 |
+
],
|
| 109 |
+
"episode_scenario": {
|
| 110 |
+
"work_id": "DATA-006",
|
| 111 |
+
"authorization": "data006-expansion-v1",
|
| 112 |
+
"id": "demo_39",
|
| 113 |
+
"asset": "box01",
|
| 114 |
+
"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
|
| 115 |
+
"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 116 |
+
"yaw_deg": 90,
|
| 117 |
+
"motion": "body_finish",
|
| 118 |
+
"color": "purple",
|
| 119 |
+
"goal_color": [
|
| 120 |
+
0.65,
|
| 121 |
+
0.15,
|
| 122 |
+
0.9
|
| 123 |
+
],
|
| 124 |
+
"split": "train",
|
| 125 |
+
"parameters": {
|
| 126 |
+
"attempt": 1,
|
| 127 |
+
"seed": 600890,
|
| 128 |
+
"face_x_m": 0.52699005886963,
|
| 129 |
+
"center_y_m": 0.14718727972565046,
|
| 130 |
+
"goal_margin_x_m": 0.1119678434327196,
|
| 131 |
+
"goal_margin_y_m": 0.1394060824333871,
|
| 132 |
+
"base_speed_m_s": 0.10713657085676276,
|
| 133 |
+
"foot_x_m": 0.3379767111714997,
|
| 134 |
+
"transition_s": 0.5864527462280598
|
| 135 |
+
},
|
| 136 |
+
"selected_face": "local_y_max"
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"implementation": {
|
| 140 |
+
"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
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|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
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"work_id": "DATA-006",
|
| 5 |
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"authorization": "data006-expansion-v1",
|
| 6 |
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"id": "demo_39",
|
| 7 |
+
"asset": "box01",
|
| 8 |
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"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
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| 9 |
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"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
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"yaw_deg": 90,
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| 11 |
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"motion": "body_finish",
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| 12 |
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"color": "purple",
|
| 13 |
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"goal_color": [
|
| 14 |
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0.65,
|
| 15 |
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0.15,
|
| 16 |
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0.9
|
| 17 |
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],
|
| 18 |
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"split": "train",
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| 19 |
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| 21 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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},
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| 30 |
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|
| 31 |
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},
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| 32 |
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"mode": "demonstration",
|
| 33 |
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"passed": true,
|
| 34 |
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"implementation": {
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| 35 |
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"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
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| 36 |
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"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
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"source/rambo/rambo/tasks/direct/rambo_quadruped/push_box_v2.py": "552ebed6140828cadb62353d3b453a4e2e18d8b44a10e0728cbe3f1a462eb239",
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"configs/push_box_v2.json": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
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| 39 |
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| 40 |
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"source/rambo/rambo/tasks/common/push_box_geometry.py": "188173248ec101e6dcbd637fd862ee5525f7737080ea7abaf6eba166b9bda8cd",
|
| 41 |
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"source/rambo/rambo/tasks/common/push_box_expert.py": "d9dd98951cff88ae17c7fc75be08c082a00f6a69ba5a968792dd5d6d52d0bcbf",
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| 42 |
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"source/rambo/rambo/tasks/common/push_box_scenarios.py": "944c8150ed9a574705c03be33fda8ac0fcab709e6d5f779488b7a7411ff23e5f"
|
| 43 |
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},
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| 44 |
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"profile": {
|
| 45 |
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"task_profile_version": "push-box-v2-2",
|
| 46 |
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|
| 47 |
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"approval": {
|
| 48 |
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"status": "approved",
|
| 49 |
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"time_utc": "2026-09-16T03:18:06.623764+00:00",
|
| 50 |
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"source": "User requests straight face-center pushing and full-footprint success; subsequent steering permits the reviewed narrow face"
|
| 51 |
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},
|
| 52 |
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"asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Box_01_16x11x24_Low/SM_CardboardBox_01_16x11x24_Low.usdc",
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| 53 |
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| 54 |
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| 55 |
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| 63 |
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| 64 |
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| 66 |
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|
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|
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|
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|
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|
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|
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|
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-1.7244924306869507
|
| 196 |
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],
|
| 197 |
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"observation.state.joint_velocity": [
|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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0.590425968170166,
|
| 202 |
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0.0015944532351568341,
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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-0.022738534957170486,
|
| 209 |
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|
| 210 |
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],
|
| 211 |
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"observation.state.fl_ee_position": [
|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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],
|
| 216 |
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"observation.state.fl_ee_velocity": [
|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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],
|
| 221 |
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"observation.state.fl_contact_force": [
|
| 222 |
+
0.0,
|
| 223 |
+
0.0,
|
| 224 |
+
0.0
|
| 225 |
+
],
|
| 226 |
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"task.object.position": [
|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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],
|
| 231 |
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"task.object.orientation": [
|
| 232 |
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|
| 233 |
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|
| 234 |
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0.9975099563598633,
|
| 235 |
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|
| 236 |
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],
|
| 237 |
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"task.object.linear_velocity": [
|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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],
|
| 242 |
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"task.object.angular_velocity": [
|
| 243 |
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|
| 244 |
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0.16185544431209564,
|
| 245 |
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0.2958747148513794
|
| 246 |
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],
|
| 247 |
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"observation.state.foot_contact": [
|
| 248 |
+
false,
|
| 249 |
+
true,
|
| 250 |
+
true,
|
| 251 |
+
false
|
| 252 |
+
],
|
| 253 |
+
"task.goal.position": [
|
| 254 |
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1.2595926634595598,
|
| 255 |
+
0.14999999999999997,
|
| 256 |
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0.0
|
| 257 |
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],
|
| 258 |
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"task.progress": [
|
| 259 |
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0.43579040212090403
|
| 260 |
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],
|
| 261 |
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"task.success": [
|
| 262 |
+
true
|
| 263 |
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],
|
| 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": "7da3a598ac3cc8734d584e0d42ee39e11176e88fdd7788acecc1b941efb68ebd"
|
| 277 |
+
},
|
| 278 |
+
"provenance": {
|
| 279 |
+
"path": "metadata/provenance.json",
|
| 280 |
+
"sha256": "9b183fd9204d764df2babb3d29d44278f9f2d6514c62e731d227f231bfa0e750"
|
| 281 |
+
},
|
| 282 |
+
"origin": "real_isaac_acquisition",
|
| 283 |
+
"purpose": "demonstration",
|
| 284 |
+
"task_review": {
|
| 285 |
+
"path": "metadata/task_review.json",
|
| 286 |
+
"sha256": "fbd717d73bf5255f09d87841f2cb11ed7811a7a9ad5443c2be0726e940163464"
|
| 287 |
+
}
|
| 288 |
+
}
|
| 289 |
+
}
|
raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-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_40-a1/metadata/provenance.json
ADDED
|
@@ -0,0 +1,659 @@
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|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-006",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"work_id": "DATA-006",
|
| 5 |
+
"authorization": "data006-expansion-v1",
|
| 6 |
+
"id": "demo_40",
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| 7 |
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| 8 |
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| 11 |
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| 13 |
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| 15 |
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| 17 |
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| 34 |
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| 39 |
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The diff for this file is too large to render.
See raw diff
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raw/v2/push_box/DATA-006-20260916T075451Z/demo_40-a1/raw-validation.json
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