[QLM-DATA-001] QLM-DATA-001-20261008-normal-v2 payload 400/556
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
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| 225 |
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| 226 |
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| 228 |
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| 229 |
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| 230 |
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| 231 |
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| 232 |
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| 234 |
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| 236 |
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| 245 |
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| 246 |
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| 247 |
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"observation.state.foot_contact": [
|
| 248 |
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true,
|
| 249 |
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true,
|
| 250 |
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false,
|
| 251 |
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true
|
| 252 |
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],
|
| 253 |
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"task.goal.position": [
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| 254 |
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|
| 255 |
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| 256 |
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"task.progress": [
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| 259 |
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| 261 |
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| 262 |
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|
| 263 |
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|
| 264 |
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"task.contact.fl_object": [
|
| 265 |
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false
|
| 266 |
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],
|
| 267 |
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"task.contact.body_object": [
|
| 268 |
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false
|
| 269 |
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]
|
| 270 |
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}
|
| 271 |
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},
|
| 272 |
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"extensions": {
|
| 273 |
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"task_profile_version": "push-box-v2-2",
|
| 274 |
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"contact_diagnostics": {
|
| 275 |
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"path": "metadata/contact_provenance.json",
|
| 276 |
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"sha256": "68a7c964c210d727b003567c86b2852bc2048c8d9b1ea376e4bb7a967ea40b7a"
|
| 277 |
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},
|
| 278 |
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"provenance": {
|
| 279 |
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"path": "metadata/provenance.json",
|
| 280 |
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"sha256": "cb7e5f970100ab661c6d684dce2f890deb12cecc2257733a811cc9de4fac1d73"
|
| 281 |
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},
|
| 282 |
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"origin": "real_isaac_acquisition",
|
| 283 |
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"purpose": "demonstration",
|
| 284 |
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"task_review": {
|
| 285 |
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"path": "metadata/task_review.json",
|
| 286 |
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"sha256": "571753c13c3da1c58e18c62795d8d413fdbdafce5bcad5e62609368df0b9c531"
|
| 287 |
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}
|
| 288 |
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}
|
| 289 |
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}
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0088/metadata/contact_provenance.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0088/metadata/provenance.json
ADDED
|
@@ -0,0 +1,317 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "QLM-DATA-001",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"id": "push_box__ep0088",
|
| 5 |
+
"seed": 202610070088,
|
| 6 |
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"asset": "cardboard-box-01",
|
| 7 |
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"appearance": "ap_03"
|
| 8 |
+
},
|
| 9 |
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"task_profile": {
|
| 10 |
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"task_profile_version": "push-box-v2-2",
|
| 11 |
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"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 12 |
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"scale": 1,
|
| 13 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 14 |
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"initial_floor_clearance": 0.02,
|
| 15 |
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"goal_x": [
|
| 16 |
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|
| 17 |
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|
| 18 |
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],
|
| 19 |
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"goal_y": [
|
| 20 |
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|
| 21 |
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|
| 22 |
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],
|
| 23 |
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"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 24 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 25 |
+
"fall": {
|
| 26 |
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"base_height_lt": 0.1,
|
| 27 |
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"projected_gravity_error_gt": 0.75
|
| 28 |
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},
|
| 29 |
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"contact": {
|
| 30 |
+
"role": "diagnostic_only",
|
| 31 |
+
"unavailable": "unknown",
|
| 32 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 33 |
+
},
|
| 34 |
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"observer": {
|
| 35 |
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"position": [
|
| 36 |
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1.8,
|
| 37 |
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2.0,
|
| 38 |
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1.5
|
| 39 |
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],
|
| 40 |
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"look_at": [
|
| 41 |
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|
| 42 |
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0.1,
|
| 43 |
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0.2
|
| 44 |
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],
|
| 45 |
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"fps": 25,
|
| 46 |
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"model_input": false
|
| 47 |
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},
|
| 48 |
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"policy_rgb_fps": 50,
|
| 49 |
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"policy_fps": 50,
|
| 50 |
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"controller_fps": 100,
|
| 51 |
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"physics_fps": 500,
|
| 52 |
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"force_zero": true,
|
| 53 |
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"success_policy_ticks": 3,
|
| 54 |
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"initial_box_yaw_rad": 0.0,
|
| 55 |
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"push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
|
| 56 |
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"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 57 |
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"expert": {
|
| 58 |
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"settle_seconds": 2.1,
|
| 59 |
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"normal_approach_seconds": 1.0,
|
| 60 |
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"standoff_m": 0.1,
|
| 61 |
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|
| 62 |
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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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|
| 73 |
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},
|
| 74 |
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"initial_face_distance_x": 0.54,
|
| 75 |
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"asset_id": "cardboard-box-01",
|
| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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],
|
| 82 |
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"scaleup_recovery": false,
|
| 83 |
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"recovery_progress_m": 0.12,
|
| 84 |
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"episode_scenario": {
|
| 85 |
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"work_id": "QLM-DATA-001",
|
| 86 |
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"authorization": "qlm-scaleup-push-v1",
|
| 87 |
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"selected_face": "local_x_min"
|
| 88 |
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},
|
| 89 |
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"instruction": "Push the box into the target area.",
|
| 90 |
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"scaleup_metadata": {
|
| 91 |
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"episode_uid": "push_box__ep0088",
|
| 92 |
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"task_id": "push_box",
|
| 93 |
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"split": "train",
|
| 94 |
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"difficulty": "randomized",
|
| 95 |
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"trajectory_type": "normal",
|
| 96 |
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"recovery_type": null,
|
| 97 |
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"appearance_preset": "ap_03",
|
| 98 |
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"asset_id": "cardboard-box-01",
|
| 99 |
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"initial_condition_id": "ic_0088",
|
| 100 |
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|
| 101 |
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|
| 102 |
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},
|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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},
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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},
|
| 122 |
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"capture_sha256": "111a2ae333bf95c82b30163179a587c6eb4ae5b723ada79ef5928116ac353796",
|
| 125 |
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"terminal_gate": {
|
| 126 |
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"passed": true,
|
| 127 |
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"status": "success",
|
| 128 |
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"outcome": "success",
|
| 129 |
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"terminal_before_reset": true,
|
| 130 |
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"n_actions": 486,
|
| 131 |
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"n_boundaries": 487,
|
| 132 |
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"initial_geometry": {
|
| 133 |
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"center": [
|
| 134 |
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|
| 135 |
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|
| 136 |
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"face_center": [
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| 139 |
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|
| 141 |
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],
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| 143 |
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"face_normal": [
|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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],
|
| 148 |
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"footprint_xy": [
|
| 149 |
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[
|
| 150 |
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|
| 151 |
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| 153 |
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[
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"projected_box_corners": [
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| 167 |
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[
|
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| 206 |
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| 207 |
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| 209 |
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| 211 |
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| 212 |
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|
| 213 |
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| 214 |
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|
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| 219 |
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| 220 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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],
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| 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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| 232 |
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| 233 |
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| 234 |
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| 236 |
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| 237 |
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| 240 |
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| 243 |
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| 244 |
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| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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false,
|
| 249 |
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true,
|
| 250 |
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true,
|
| 251 |
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true
|
| 252 |
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],
|
| 253 |
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"task.goal.position": [
|
| 254 |
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|
| 255 |
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|
| 256 |
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| 257 |
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],
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| 258 |
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"task.progress": [
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| 259 |
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|
| 260 |
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],
|
| 261 |
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"task.success": [
|
| 262 |
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true
|
| 263 |
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],
|
| 264 |
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"task.contact.fl_object": [
|
| 265 |
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false
|
| 266 |
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],
|
| 267 |
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"task.contact.body_object": [
|
| 268 |
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false
|
| 269 |
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]
|
| 270 |
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}
|
| 271 |
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},
|
| 272 |
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"extensions": {
|
| 273 |
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"task_profile_version": "push-box-v2-2",
|
| 274 |
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"contact_diagnostics": {
|
| 275 |
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"path": "metadata/contact_provenance.json",
|
| 276 |
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"sha256": "11da04627466fe237dd8fdb493c4a2d98215a9a5f61b970d79e685175c7f66a9"
|
| 277 |
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},
|
| 278 |
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"provenance": {
|
| 279 |
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"path": "metadata/provenance.json",
|
| 280 |
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"sha256": "6c0f0f1d2d8209bcf0d16cae1e8b077b50595152ec801f5a1aecb1b53e7d7ed3"
|
| 281 |
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},
|
| 282 |
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"origin": "real_isaac_acquisition",
|
| 283 |
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"purpose": "demonstration",
|
| 284 |
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"task_review": {
|
| 285 |
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"path": "metadata/task_review.json",
|
| 286 |
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"sha256": "dc9526be20b610fafd1811a7523a3c29098be42c8de4d8d52d508389765f88eb"
|
| 287 |
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}
|
| 288 |
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}
|
| 289 |
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}
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0089/metadata/contact_provenance.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0089/metadata/provenance.json
ADDED
|
@@ -0,0 +1,317 @@
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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 |
+
{
|
| 2 |
+
"work_id": "QLM-DATA-001",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"id": "push_box__ep0089",
|
| 5 |
+
"seed": 202610070089,
|
| 6 |
+
"asset": "cardboard-box-01",
|
| 7 |
+
"appearance": "ap_03"
|
| 8 |
+
},
|
| 9 |
+
"task_profile": {
|
| 10 |
+
"task_profile_version": "push-box-v2-2",
|
| 11 |
+
"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 12 |
+
"scale": 1,
|
| 13 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 14 |
+
"initial_floor_clearance": 0.02,
|
| 15 |
+
"goal_x": [
|
| 16 |
+
-14.057442984554328,
|
| 17 |
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-13.657442984554327
|
| 18 |
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],
|
| 19 |
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"goal_y": [
|
| 20 |
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-15.094785367781311,
|
| 21 |
+
-14.594785367781311
|
| 22 |
+
],
|
| 23 |
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"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 24 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 25 |
+
"fall": {
|
| 26 |
+
"base_height_lt": 0.1,
|
| 27 |
+
"projected_gravity_error_gt": 0.75
|
| 28 |
+
},
|
| 29 |
+
"contact": {
|
| 30 |
+
"role": "diagnostic_only",
|
| 31 |
+
"unavailable": "unknown",
|
| 32 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 33 |
+
},
|
| 34 |
+
"observer": {
|
| 35 |
+
"position": [
|
| 36 |
+
1.8,
|
| 37 |
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2.0,
|
| 38 |
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1.5
|
| 39 |
+
],
|
| 40 |
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"look_at": [
|
| 41 |
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0.65,
|
| 42 |
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0.1,
|
| 43 |
+
0.2
|
| 44 |
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],
|
| 45 |
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"fps": 25,
|
| 46 |
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"model_input": false
|
| 47 |
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},
|
| 48 |
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"policy_rgb_fps": 50,
|
| 49 |
+
"policy_fps": 50,
|
| 50 |
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"controller_fps": 100,
|
| 51 |
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"physics_fps": 500,
|
| 52 |
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"force_zero": true,
|
| 53 |
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"success_policy_ticks": 3,
|
| 54 |
+
"initial_box_yaw_rad": 0.0,
|
| 55 |
+
"push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
|
| 56 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 57 |
+
"expert": {
|
| 58 |
+
"settle_seconds": 2.1,
|
| 59 |
+
"normal_approach_seconds": 1.0,
|
| 60 |
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"standoff_m": 0.1,
|
| 61 |
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"penetration_m": 0.015,
|
| 62 |
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"align_base_speed": 0.14,
|
| 63 |
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"push_base_speed": 0.12,
|
| 64 |
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"face_distance_for_foot_approach": 0.405,
|
| 65 |
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"approach_foot_x": 0.28,
|
| 66 |
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"push_foot_x": 0.38,
|
| 67 |
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"motion": "coordinated",
|
| 68 |
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"transition_s": 0.45,
|
| 69 |
+
"leg_finish_max_x": 0.4,
|
| 70 |
+
"lateral_tracking_gain": 2.0,
|
| 71 |
+
"lateral_tracking_limit_m": 0.015,
|
| 72 |
+
"corner_recovery": false
|
| 73 |
+
},
|
| 74 |
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"initial_face_distance_x": 0.54,
|
| 75 |
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"asset_id": "cardboard-box-01",
|
| 76 |
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"source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 77 |
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"goal_color": [
|
| 78 |
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0.05,
|
| 79 |
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0.8,
|
| 80 |
+
0.15
|
| 81 |
+
],
|
| 82 |
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"scaleup_recovery": false,
|
| 83 |
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"recovery_progress_m": 0.12,
|
| 84 |
+
"episode_scenario": {
|
| 85 |
+
"work_id": "QLM-DATA-001",
|
| 86 |
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"authorization": "qlm-scaleup-push-v1",
|
| 87 |
+
"selected_face": "local_y_max"
|
| 88 |
+
},
|
| 89 |
+
"instruction": "Push the box into the target area.",
|
| 90 |
+
"scaleup_metadata": {
|
| 91 |
+
"episode_uid": "push_box__ep0089",
|
| 92 |
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"task_id": "push_box",
|
| 93 |
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"split": "train",
|
| 94 |
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"difficulty": "randomized",
|
| 95 |
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"trajectory_type": "normal",
|
| 96 |
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"recovery_type": null,
|
| 97 |
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"appearance_preset": "ap_03",
|
| 98 |
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"asset_id": "cardboard-box-01",
|
| 99 |
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"initial_condition_id": "ic_0089",
|
| 100 |
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"goal_condition_id": "gc_0089",
|
| 101 |
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"environment_seed": 202610070089
|
| 102 |
+
},
|
| 103 |
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"scaleup_motion_revision": "continuous-v2",
|
| 104 |
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"canonical_goal_position": [
|
| 105 |
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-13.857442984554329,
|
| 106 |
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-14.844785367781311,
|
| 107 |
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|
| 108 |
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],
|
| 109 |
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"environment_origin": [
|
| 110 |
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-15.0,
|
| 111 |
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-15.0,
|
| 112 |
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|
| 113 |
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],
|
| 114 |
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"initial_center_x_world": -14.393168411840682
|
| 115 |
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},
|
| 116 |
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"implementation": {
|
| 117 |
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"__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407",
|
| 118 |
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"batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2",
|
| 119 |
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"isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e",
|
| 120 |
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"orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b"
|
| 121 |
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},
|
| 122 |
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"source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9",
|
| 123 |
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"checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
|
| 124 |
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"capture_sha256": "eb3a3decf74e70094eb805a33e99844655127fd3b6657a901cebae163733aeb3",
|
| 125 |
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"terminal_gate": {
|
| 126 |
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"passed": true,
|
| 127 |
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"status": "success",
|
| 128 |
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"outcome": "success",
|
| 129 |
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"terminal_before_reset": true,
|
| 130 |
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"n_actions": 459,
|
| 131 |
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"n_boundaries": 460,
|
| 132 |
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"initial_geometry": {
|
| 133 |
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"center": [
|
| 134 |
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-14.393168826745566,
|
| 135 |
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-14.863943978948662,
|
| 136 |
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|
| 137 |
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],
|
| 138 |
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"face_center": [
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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],
|
| 143 |
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"face_normal": [
|
| 144 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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| 191 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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| 200 |
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| 201 |
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| 202 |
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| 207 |
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| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 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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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 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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|
| 245 |
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|
| 246 |
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|
| 247 |
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"observation.state.foot_contact": [
|
| 248 |
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true,
|
| 249 |
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true,
|
| 250 |
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false,
|
| 251 |
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true
|
| 252 |
+
],
|
| 253 |
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"task.goal.position": [
|
| 254 |
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-13.843472987900274,
|
| 255 |
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|
| 256 |
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|
| 257 |
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],
|
| 258 |
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"task.progress": [
|
| 259 |
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|
| 260 |
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],
|
| 261 |
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"task.success": [
|
| 262 |
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true
|
| 263 |
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],
|
| 264 |
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"task.contact.fl_object": [
|
| 265 |
+
false
|
| 266 |
+
],
|
| 267 |
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"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": "312c62ece28aea1f7695275204e0338ae783d8289e837c30cbfcf78a642ab311"
|
| 277 |
+
},
|
| 278 |
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"provenance": {
|
| 279 |
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"path": "metadata/provenance.json",
|
| 280 |
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"sha256": "4b39b98b09698e365a7786a27bfdd2af83ca542fbf7b51d851730f1e558e3388"
|
| 281 |
+
},
|
| 282 |
+
"origin": "real_isaac_acquisition",
|
| 283 |
+
"purpose": "demonstration",
|
| 284 |
+
"task_review": {
|
| 285 |
+
"path": "metadata/task_review.json",
|
| 286 |
+
"sha256": "352d6dba0678c49f5af598e5b1bc9ce7a8c0144660cce5dc6802c8d7f7a8e9e2"
|
| 287 |
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}
|
| 288 |
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}
|
| 289 |
+
}
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0090/metadata/contact_provenance.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0090/metadata/provenance.json
ADDED
|
@@ -0,0 +1,317 @@
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "QLM-DATA-001",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"id": "push_box__ep0090",
|
| 5 |
+
"seed": 202610070090,
|
| 6 |
+
"asset": "cardboard-box-01",
|
| 7 |
+
"appearance": "ap_03"
|
| 8 |
+
},
|
| 9 |
+
"task_profile": {
|
| 10 |
+
"task_profile_version": "push-box-v2-2",
|
| 11 |
+
"asset_sha256": "eef26640620eb5dfeb3e8d40a1f4f1a0428a843d1bd439db657e8f41f3cb233a",
|
| 12 |
+
"scale": 1,
|
| 13 |
+
"initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
|
| 14 |
+
"initial_floor_clearance": 0.02,
|
| 15 |
+
"goal_x": [
|
| 16 |
+
-14.043472987900275,
|
| 17 |
+
-13.643472987900275
|
| 18 |
+
],
|
| 19 |
+
"goal_y": [
|
| 20 |
+
14.893012454941637,
|
| 21 |
+
15.393012454941637
|
| 22 |
+
],
|
| 23 |
+
"goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
|
| 24 |
+
"success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
|
| 25 |
+
"fall": {
|
| 26 |
+
"base_height_lt": 0.1,
|
| 27 |
+
"projected_gravity_error_gt": 0.75
|
| 28 |
+
},
|
| 29 |
+
"contact": {
|
| 30 |
+
"role": "diagnostic_only",
|
| 31 |
+
"unavailable": "unknown",
|
| 32 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 33 |
+
},
|
| 34 |
+
"observer": {
|
| 35 |
+
"position": [
|
| 36 |
+
1.8,
|
| 37 |
+
2.0,
|
| 38 |
+
1.5
|
| 39 |
+
],
|
| 40 |
+
"look_at": [
|
| 41 |
+
0.65,
|
| 42 |
+
0.1,
|
| 43 |
+
0.2
|
| 44 |
+
],
|
| 45 |
+
"fps": 25,
|
| 46 |
+
"model_input": false
|
| 47 |
+
},
|
| 48 |
+
"policy_rgb_fps": 50,
|
| 49 |
+
"policy_fps": 50,
|
| 50 |
+
"controller_fps": 100,
|
| 51 |
+
"physics_fps": 500,
|
| 52 |
+
"force_zero": true,
|
| 53 |
+
"success_policy_ticks": 3,
|
| 54 |
+
"initial_box_yaw_rad": 0.0,
|
| 55 |
+
"push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
|
| 56 |
+
"robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
|
| 57 |
+
"expert": {
|
| 58 |
+
"settle_seconds": 2.1,
|
| 59 |
+
"normal_approach_seconds": 1.0,
|
| 60 |
+
"standoff_m": 0.1,
|
| 61 |
+
"penetration_m": 0.015,
|
| 62 |
+
"align_base_speed": 0.14,
|
| 63 |
+
"push_base_speed": 0.12,
|
| 64 |
+
"face_distance_for_foot_approach": 0.405,
|
| 65 |
+
"approach_foot_x": 0.28,
|
| 66 |
+
"push_foot_x": 0.38,
|
| 67 |
+
"motion": "coordinated",
|
| 68 |
+
"transition_s": 0.45,
|
| 69 |
+
"leg_finish_max_x": 0.4,
|
| 70 |
+
"lateral_tracking_gain": 2.0,
|
| 71 |
+
"lateral_tracking_limit_m": 0.015,
|
| 72 |
+
"corner_recovery": false
|
| 73 |
+
},
|
| 74 |
+
"initial_face_distance_x": 0.54,
|
| 75 |
+
"asset_id": "cardboard-box-01",
|
| 76 |
+
"source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
|
| 77 |
+
"goal_color": [
|
| 78 |
+
0.05,
|
| 79 |
+
0.8,
|
| 80 |
+
0.15
|
| 81 |
+
],
|
| 82 |
+
"scaleup_recovery": false,
|
| 83 |
+
"recovery_progress_m": 0.12,
|
| 84 |
+
"episode_scenario": {
|
| 85 |
+
"work_id": "QLM-DATA-001",
|
| 86 |
+
"authorization": "qlm-scaleup-push-v1",
|
| 87 |
+
"selected_face": "local_x_max"
|
| 88 |
+
},
|
| 89 |
+
"instruction": "Push the box into the target area.",
|
| 90 |
+
"scaleup_metadata": {
|
| 91 |
+
"episode_uid": "push_box__ep0090",
|
| 92 |
+
"task_id": "push_box",
|
| 93 |
+
"split": "train",
|
| 94 |
+
"difficulty": "randomized",
|
| 95 |
+
"trajectory_type": "normal",
|
| 96 |
+
"recovery_type": null,
|
| 97 |
+
"appearance_preset": "ap_03",
|
| 98 |
+
"asset_id": "cardboard-box-01",
|
| 99 |
+
"initial_condition_id": "ic_0090",
|
| 100 |
+
"goal_condition_id": "gc_0090",
|
| 101 |
+
"environment_seed": 202610070090
|
| 102 |
+
},
|
| 103 |
+
"scaleup_motion_revision": "continuous-v2",
|
| 104 |
+
"canonical_goal_position": [
|
| 105 |
+
-13.843472987900274,
|
| 106 |
+
15.143012454941637,
|
| 107 |
+
0.0
|
| 108 |
+
],
|
| 109 |
+
"environment_origin": [
|
| 110 |
+
-15.0,
|
| 111 |
+
15.0,
|
| 112 |
+
0.0
|
| 113 |
+
],
|
| 114 |
+
"initial_center_x_world": -14.373618736298173
|
| 115 |
+
},
|
| 116 |
+
"implementation": {
|
| 117 |
+
"__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407",
|
| 118 |
+
"batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2",
|
| 119 |
+
"isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e",
|
| 120 |
+
"orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b"
|
| 121 |
+
},
|
| 122 |
+
"source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9",
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raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0090/metadata/task_review.json
ADDED
|
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|