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  1. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-059/contact_provenance.json +0 -0
  2. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-059/provenance.json +0 -0
  3. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-059/task_review.json +0 -0
  4. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-061/contact_provenance.json +0 -0
  5. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-061/provenance.json +0 -0
  6. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-061/task_review.json +0 -0
  7. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-066/contact_provenance.json +0 -0
  8. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-066/provenance.json +0 -0
  9. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-066/task_review.json +0 -0
  10. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-069/contact_provenance.json +0 -0
  11. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-069/provenance.json +0 -0
  12. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-070/contact_provenance.json +0 -0
  13. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-070/provenance.json +0 -0
  14. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-070/task_review.json +0 -0
  15. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-071/contact_provenance.json +0 -0
  16. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-071/provenance.json +0 -0
  17. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-071/task_review.json +0 -0
  18. canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-092/contact_provenance.json +0 -0
  19. schemas/contracts_v2/action.json +47 -0
  20. schemas/contracts_v2/cameras.json +11 -0
  21. schemas/contracts_v2/d435i_rgb_task.json +95 -0
  22. schemas/contracts_v2/go2_ego.json +94 -0
  23. schemas/contracts_v2/golden_timeline.json +0 -0
  24. schemas/contracts_v2/lock.json +21 -0
  25. schemas/contracts_v2/schemas.json +1819 -0
  26. schemas/contracts_v2/telemetry.json +211 -0
  27. schemas/contracts_v2/timing.json +16 -0
  28. schemas/dataset_v2/columns.json +321 -0
  29. schemas/dataset_v2/lock.json +11 -0
  30. schemas/dataset_v2/profile.json +353 -0
  31. schemas/dataset_v2/schemas.json +1212 -0
canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-059/contact_provenance.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-059/task_review.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-061/contact_provenance.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-066/contact_provenance.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-069/contact_provenance.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-069/provenance.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-070/contact_provenance.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-070/provenance.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-070/task_review.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-071/contact_provenance.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-071/provenance.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-071/task_review.json ADDED
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canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1/metadata/lift100-20261015-092/contact_provenance.json ADDED
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schemas/contracts_v2/action.json ADDED
@@ -0,0 +1,47 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "id": "rambo-native9-v2",
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+ "version": "2.0.0",
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+ "names": [
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+ "base_vx",
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+ "base_vy",
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+ "base_yaw_rate",
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+ "fl_ee_x",
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+ "fl_ee_y",
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+ "fl_ee_z",
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+ "fl_ee_fx",
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+ "fl_ee_fy",
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+ "fl_ee_fz"
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+ ],
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+ "m/s",
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+ "m/s",
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+ "rad/s",
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+ "m",
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+ "m",
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+ "m",
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+ "N",
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+ "N",
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+ "N"
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+ ],
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+ "frames": [
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+ "projected_com_controller",
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+ "projected_com_controller",
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+ "projected_com_controller",
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+ "projected_com",
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+ "projected_com",
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+ "projected_com",
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+ "projected_com",
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+ "projected_com",
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+ "projected_com"
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+ ],
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+ "position_reference": "RAMBO analytical FL endpoint; absolute target, not delta",
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+ "origin": "base world x/y projected onto world z=0; com_offset=(0,0,0), not measured whole-body CoM",
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+ "rotation": "R_body_from_projected=rp_rotation_from_gravity_b(g_body); inverse is its transpose",
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+ "axes": "gravity-level controller axes; +x forward/+y left at level pose, +z up; retain matrix definition under roll/pitch",
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+ "force_sign": "desired robot-on-environment force; QP reaction and external injection use its negative",
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+ "force_policy": "preserve requested; transformed/filtered/executed force exactly zero",
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+ "filter": "identity",
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+ "history": "completed high-level hold intervals; not measured EEF trajectory",
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+ "consumption": "base/force read pre-step; FL IK updated post-step; residual runner consumes previous returned observation; record command IDs rather than retime labels",
46
+ "execution_dtype": "float32; requested JSON numbers preserved; transformed records dtype conversion before zero force"
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+ }
schemas/contracts_v2/cameras.json ADDED
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+ {
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+ "id": "go2-ego-d435i-task-v2",
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+ "version": "2.0.0",
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+ "source_setup": "robot-dual-v3",
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+ },
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+ "preprocessing": "not part of camera hash; owned by WAM",
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+ "sampling": "sim synchronized; real-camera resampling requires a different profile"
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+ }
schemas/contracts_v2/d435i_rgb_task.json ADDED
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+ {
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+ "id": "d435i_rgb_task",
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+ "version": "2.0.0",
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+ "source_setup": "robot-dual-v3",
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+ "source_key": "task",
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+ "width": 1280,
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+ "height": 720,
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+ "rgb_period_ticks": 40,
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+ "mount_parent": "Robot/base",
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+ 0.34
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+ "mount_quaternion_xyzw": [
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+ 0.0,
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+ 0.0,
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+ 0.8433914458128857
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+ "mount_axes": "x forward, y left, z up",
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+ "optical_axes": "x right, y down, z forward",
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+ "R_mount_from_optical": [
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+ [
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+ 0,
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+ 20.0
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+ ],
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+ "calibration_status": "nominal_specification_approximation_not_device_calibration",
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+ "device_distortion": "unknown; simulator is rectilinear pinhole",
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+ "mechanical_mount": "nominal not measured",
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+ "rig_physics": {
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+ "mass_modeled": false,
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+ "collision": false
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+ },
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+ "source_parameters": {
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+ "path": "/World/envs/env_0/Robot/base/task_camera_rig/task_camera",
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+ "position": [
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+ "sensor_model": "Intel RealSense D435i RGB / OmniVision OV2740 nominal specification",
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+ "horizontal_fov_deg": 69.4,
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+ "vertical_fov_published_deg": 42.5,
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+ "vertical_fov_simulated_deg": 42.561177083628365,
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+ "pixel_aspect_ratio": 1.0,
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+ "projection": "centered_rectilinear_pinhole_no_device_distortion",
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+ "specification_source": "https://www.realsenseai.com/wp-content/uploads/2022/03/Intel-RealSense-D400-Series-Datasheet-March-2022.pdf"
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+ }
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+ }
schemas/contracts_v2/go2_ego.json ADDED
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+ "version": "2.0.0",
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+ "source_setup": "robot-dual-v3",
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+ "source_key": "ego",
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+ "width": 1280,
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+ ],
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+ "calibration_status": "nominal_specification_approximation_not_device_calibration",
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+ "device_distortion": "unknown; simulator is rectilinear pinhole",
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+ "mechanical_mount": "nominal not measured",
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+ "rig_physics": {
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+ "mass_modeled": false,
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+ "collision": false
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+ },
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+ "source_parameters": {
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+ "path": "/World/envs/env_0/Robot/base/front_camera",
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+ "position": [
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+ "fov_axis_assumption": "diagonal",
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+ "diagonal_fov_deg": 120.0,
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+ "projection": "centered_rectilinear_pinhole_no_distortion",
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+ "mount_source": "https://github.com/unitreerobotics/unitree_ros/blob/master/robots/go2_description/urdf/go2_description.urdf",
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+ "fov_source": "https://static.generation-robots.com/media/brochure-unitree-go2-en.pdf"
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+ }
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+ }
schemas/contracts_v2/golden_timeline.json ADDED
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schemas/contracts_v2/lock.json ADDED
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+ {
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+ "authority": "RAMBO_Data",
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+ "version": "2.0.0",
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+ "source_baseline": "9a8989b56989c8450341b6071d33560c1f104c74",
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+ "files": {
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+ "cameras.json": "91fe0485929afb0cafc48246703cdd0bc0a3d94f70006171e6d0f56e21ac41cc",
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+ "d435i_rgb_task.json": "8438c8237eeb5d7ac4449a61ad27e5ef27d7fcc83dcc8f5c5b52f893c0616d6d",
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+ "go2_ego.json": "fd164f6b780a9079b6f13e10b0b31515c86035b6d2b735644a383c63804b502c",
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+ "schemas.json": "3aa7718a2e694b35451797838f787e9406f36de7b58e74a219c68c17e56c054c",
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+ "telemetry.json": "270f09bba3fe4a78eb26275374976a705b2080e2718a4ffb3f83a1530b1fb539",
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+ "timing.json": "2418e380d3f185e597fde9dfb135dce429860d3f373de4578a36885a75467a7d",
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+ "golden_timeline.json": "e5fd8d3fcb312415713e7043128af3b34ddc29a87a3838ab1fab360ec9ad6ec8"
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+ },
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+ "profile_hashes": {
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+ "action": "3844b323ade045280f220ac1d0f684af6c8555a3d40e8534ba1d02719dda4d69",
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+ "timing": "22fcfbf52b0c0bd0ae952dc8c204a2c8ef52ff7274b6ccd494b02f1af6f62fdc",
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+ "telemetry": "7152d9c2e0efd9f0c76853bfecb7223aaf0a7ff108eabf5af50c216b6ec6806f",
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+ "cameras": "e38bb89c9353cc562c6027463dfcff47f21b5940b3527c08be1eac4908fe3b8b"
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+ }
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schemas/contracts_v2/timing.json ADDED
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