[DATA-011] DATA-009-local-ten-20260926T130524Z payload 200/337
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +5 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/cameras/observer.partial.encoder.log +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/cameras/task_centric.mp4 +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/capture.json +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/manifest.json +289 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/metadata/contact_provenance.json +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/metadata/provenance.json +317 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/metadata/task_review.json +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/raw-validation.json +12 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/review/post_reset_ego.png +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/review/post_reset_task_centric.png +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/streams/camera_index.parquet +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/streams/contact_sensor.parquet +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/streams/controller_100hz.parquet +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/streams/physics_500hz.parquet +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/streams/policy_50hz.parquet +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/summary.json +198 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/cameras/ego.mp4 +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/cameras/ego.partial.encoder.log +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/cameras/observer.mp4 +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/cameras/observer.partial.encoder.log +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/cameras/task_centric.mp4 +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/capture.json +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/manifest.json +289 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/metadata/contact_provenance.json +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/metadata/provenance.json +317 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/metadata/task_review.json +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/raw-validation.json +12 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/review/post_reset_ego.png +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/review/post_reset_task_centric.png +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/review/terminal_pre_reset_ego.png +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/review/terminal_pre_reset_task_centric.png +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/streams/camera_index.parquet +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/streams/contact_sensor.parquet +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/streams/controller_100hz.parquet +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/streams/physics_500hz.parquet +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/streams/policy_50hz.parquet +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/summary.json +198 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_02-a1/cameras/ego.mp4 +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_02-a1/cameras/ego.partial.encoder.log +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_02-a1/cameras/observer.mp4 +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_02-a1/cameras/observer.partial.encoder.log +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_02-a1/cameras/task_centric.mp4 +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_02-a1/cameras/task_centric.partial.encoder.log +0 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_02-a1/capture.json +3 -0
- raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_02-a1/manifest.json +289 -0
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{
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},
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},
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"videos": {
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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",
|
| 38 |
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"-hide_banner",
|
| 39 |
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"-loglevel",
|
| 40 |
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"error",
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| 41 |
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"-f",
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| 42 |
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"rawvideo",
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| 43 |
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"-pix_fmt",
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| 44 |
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"rgb24",
|
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"-s",
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"1280x720",
|
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|
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|
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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",
|
| 54 |
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"libx264",
|
| 55 |
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"-threads",
|
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"2",
|
| 57 |
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"-crf",
|
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"18",
|
| 59 |
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"-preset",
|
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"medium",
|
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"-g",
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"50",
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"-keyint_min",
|
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"50",
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raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/metadata/contact_provenance.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_00-a1/metadata/provenance.json
ADDED
|
@@ -0,0 +1,317 @@
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|
| 1 |
+
{
|
| 2 |
+
"work_id": "DATA-009",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"id": "lift_demo_00",
|
| 5 |
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"seed": 42,
|
| 6 |
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"offset_x_m": -0.005,
|
| 7 |
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|
| 8 |
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},
|
| 9 |
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"task_profile": {
|
| 10 |
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"fall": {
|
| 11 |
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"base_height_lt": 0.1,
|
| 12 |
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|
| 13 |
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},
|
| 14 |
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"contact": {
|
| 15 |
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"role": "diagnostic_only",
|
| 16 |
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"unavailable": "unknown",
|
| 17 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 18 |
+
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ADDED
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@@ -0,0 +1,3 @@
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0.2972150146961212
|
| 215 |
+
],
|
| 216 |
+
"observation.state.fl_ee_velocity": [
|
| 217 |
+
-0.07932837307453156,
|
| 218 |
+
0.471354216337204,
|
| 219 |
+
0.011838056147098541
|
| 220 |
+
],
|
| 221 |
+
"observation.state.fl_contact_force": [
|
| 222 |
+
0.0,
|
| 223 |
+
0.0,
|
| 224 |
+
0.0
|
| 225 |
+
],
|
| 226 |
+
"task.object.position": [
|
| 227 |
+
0.7608169913291931,
|
| 228 |
+
0.1340632140636444,
|
| 229 |
+
0.035387322306632996
|
| 230 |
+
],
|
| 231 |
+
"task.object.orientation": [
|
| 232 |
+
0.7130960822105408,
|
| 233 |
+
0.7005179524421692,
|
| 234 |
+
0.025289421901106834,
|
| 235 |
+
-0.011355609633028507
|
| 236 |
+
],
|
| 237 |
+
"task.object.linear_velocity": [
|
| 238 |
+
0.006380259990692139,
|
| 239 |
+
-0.09193144738674164,
|
| 240 |
+
0.10598515719175339
|
| 241 |
+
],
|
| 242 |
+
"task.object.angular_velocity": [
|
| 243 |
+
-0.3269694447517395,
|
| 244 |
+
-0.2781272828578949,
|
| 245 |
+
-0.06991051137447357
|
| 246 |
+
],
|
| 247 |
+
"observation.state.foot_contact": [
|
| 248 |
+
false,
|
| 249 |
+
false,
|
| 250 |
+
true,
|
| 251 |
+
true
|
| 252 |
+
],
|
| 253 |
+
"task.goal.position": [
|
| 254 |
+
0.755,
|
| 255 |
+
0.1475,
|
| 256 |
+
0.02
|
| 257 |
+
],
|
| 258 |
+
"task.progress": [
|
| 259 |
+
0.03313474873022689
|
| 260 |
+
],
|
| 261 |
+
"task.success": [
|
| 262 |
+
true
|
| 263 |
+
],
|
| 264 |
+
"task.contact.fl_object": [
|
| 265 |
+
false
|
| 266 |
+
],
|
| 267 |
+
"task.contact.body_object": [
|
| 268 |
+
false
|
| 269 |
+
]
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
"extensions": {
|
| 273 |
+
"task_profile_version": "lift-basket-v2-2",
|
| 274 |
+
"contact_diagnostics": {
|
| 275 |
+
"path": "metadata/contact_provenance.json",
|
| 276 |
+
"sha256": "dfe452e3b6fb864c53f66be2285ccf17e2d41bd06eb9dc7a6261634906ca5eff"
|
| 277 |
+
},
|
| 278 |
+
"provenance": {
|
| 279 |
+
"path": "metadata/provenance.json",
|
| 280 |
+
"sha256": "f0fd3b1399877c5e91ceff40f8fd1d278769dcab8099eeb90d08569d50c34ee7"
|
| 281 |
+
},
|
| 282 |
+
"origin": "real_isaac_acquisition",
|
| 283 |
+
"purpose": "demonstration",
|
| 284 |
+
"task_review": {
|
| 285 |
+
"path": "metadata/task_review.json",
|
| 286 |
+
"sha256": "1133b825b03e1a435d9348f8999ebb7ca26a2d92e9402da7e36b3a4f6c79d2ed"
|
| 287 |
+
}
|
| 288 |
+
}
|
| 289 |
+
}
|
raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/metadata/contact_provenance.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_01-a1/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": "DATA-009",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"id": "lift_demo_01",
|
| 5 |
+
"seed": 42,
|
| 6 |
+
"offset_x_m": 0.004999999999999999,
|
| 7 |
+
"offset_y_m": -0.0025
|
| 8 |
+
},
|
| 9 |
+
"task_profile": {
|
| 10 |
+
"fall": {
|
| 11 |
+
"base_height_lt": 0.1,
|
| 12 |
+
"projected_gravity_error_gt": 0.75
|
| 13 |
+
},
|
| 14 |
+
"contact": {
|
| 15 |
+
"role": "diagnostic_only",
|
| 16 |
+
"unavailable": "unknown",
|
| 17 |
+
"bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
|
| 18 |
+
},
|
| 19 |
+
"observer": {
|
| 20 |
+
"position": [
|
| 21 |
+
1.8,
|
| 22 |
+
2.0,
|
| 23 |
+
1.5
|
| 24 |
+
],
|
| 25 |
+
"look_at": [
|
| 26 |
+
0.65,
|
| 27 |
+
0.1,
|
| 28 |
+
0.2
|
| 29 |
+
],
|
| 30 |
+
"fps": 25,
|
| 31 |
+
"model_input": false
|
| 32 |
+
},
|
| 33 |
+
"policy_rgb_fps": 50,
|
| 34 |
+
"policy_fps": 50,
|
| 35 |
+
"controller_fps": 100,
|
| 36 |
+
"physics_fps": 500,
|
| 37 |
+
"force_zero": true,
|
| 38 |
+
"success_policy_ticks": 3,
|
| 39 |
+
"task_profile_version": "lift-basket-v2-2",
|
| 40 |
+
"work_id": "DATA-009",
|
| 41 |
+
"approval": {
|
| 42 |
+
"status": "approved",
|
| 43 |
+
"time_utc": "2026-09-26T06:14:06.771689+00:00",
|
| 44 |
+
"source": "User approved DATA009 asset/placement/camera review",
|
| 45 |
+
"success_update": "User explicitly lowered minimum whole-mesh clearance to0.02m; other success conditions retained."
|
| 46 |
+
},
|
| 47 |
+
"asset_path": "repos/RAMBO_Data/source/rambo/rambo/assets/third_party/oasis/lift_basket/basket.usd",
|
| 48 |
+
"asset_sha256": "6f11c58d0765abe69e9974258227c4febe1727710f43b76afb7897b58b497b94",
|
| 49 |
+
"primary_position": [
|
| 50 |
+
0.755,
|
| 51 |
+
0.1475,
|
| 52 |
+
0.02
|
| 53 |
+
],
|
| 54 |
+
"minimum_clearance_m": 0.02,
|
| 55 |
+
"floor_z_m": 0.0,
|
| 56 |
+
"lift_goal_position": [
|
| 57 |
+
0.755,
|
| 58 |
+
0.1475,
|
| 59 |
+
0.02
|
| 60 |
+
],
|
| 61 |
+
"task_text": "Lift the basket.",
|
| 62 |
+
"expert": {
|
| 63 |
+
"settle_s": 2.1,
|
| 64 |
+
"approach_speed": 0.08,
|
| 65 |
+
"body_standoff_m": 0.5,
|
| 66 |
+
"body_hold_gain": 1.5,
|
| 67 |
+
"body_hold_speed_limit": 0.04,
|
| 68 |
+
"preinsert_z_m": 0.23,
|
| 69 |
+
"lift_target_z_m": 0.335,
|
| 70 |
+
"raise_s": 1.4,
|
| 71 |
+
"present_s": 1.8,
|
| 72 |
+
"insert_s": 2.2,
|
| 73 |
+
"lift_s": 2.6,
|
| 74 |
+
"through_margin_m": 0.008,
|
| 75 |
+
"insert_extra_m": 0.008,
|
| 76 |
+
"tracking_gain": 1.0,
|
| 77 |
+
"tracking_limit_m": 0.02,
|
| 78 |
+
"max_foot_forward_m": 0.58,
|
| 79 |
+
"ego_margin_px": 0
|
| 80 |
+
},
|
| 81 |
+
"success_enable_after_s": 2.1,
|
| 82 |
+
"task_field_semantics": {
|
| 83 |
+
"task.goal.position": "Initial basket XY reference plus minimum bottom-clearance threshold; XY is not a success constraint",
|
| 84 |
+
"task.progress": "Actual geometry minimum worldZ minus floorZ, in meters"
|
| 85 |
+
}
|
| 86 |
+
},
|
| 87 |
+
"implementation": {
|
| 88 |
+
"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
| 89 |
+
"source/rambo/rambo/recording_lift_v2.py": "316a6e1c3a7c77c0f79c888817cfa7c0d7771b08ea490094c979644a16a0a1a6",
|
| 90 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 91 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/lift_basket_v2.py": "97a0d7137c7c8cf35914f81a5372bf36c8787f25ee908b36494308015b610c4a",
|
| 92 |
+
"source/rambo/rambo/tasks/common/lift_basket_geometry.py": "9518b78483f10975c3c9dc68cdca895e0f583698c33669a196bdf6eb75b23296",
|
| 93 |
+
"source/rambo/rambo/tasks/common/lift_basket_expert.py": "b960eeabe1bd0c6d789f7dfec75cc8f57066b34e03f218cd3a76d727889c4cdb",
|
| 94 |
+
"configs/lift_basket_v2.json": "9ce9a0467733e747e7c604cf7b3ff1ce050b1d1446f32e9185c7907d45ad7011",
|
| 95 |
+
"scripts/rambo/collect_lift_basket_v2.py": "96253c5b7c7e83d42e8dbad052f54e2423ea38384b2ff4efc883aa0ce6fd4c46"
|
| 96 |
+
},
|
| 97 |
+
"source_commit": "3678f44b212c2eb8fce0d2d6d23c927cfe6a639b",
|
| 98 |
+
"checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
|
| 99 |
+
"capture_sha256": "45dc79f932eb97ac1d6846935b1401ebb115aad783b286e7d24fbd631bb882b8",
|
| 100 |
+
"terminal_gate": {
|
| 101 |
+
"work_id": "DATA-009",
|
| 102 |
+
"scenario": {
|
| 103 |
+
"id": "lift_demo_01",
|
| 104 |
+
"seed": 42,
|
| 105 |
+
"offset_x_m": 0.004999999999999999,
|
| 106 |
+
"offset_y_m": -0.0025
|
| 107 |
+
},
|
| 108 |
+
"mode": "demonstration",
|
| 109 |
+
"passed": true,
|
| 110 |
+
"implementation": {
|
| 111 |
+
"source/rambo/rambo/recording_v2.py": "009cf6349c9ecbb3579d326d852294736975d8bb7231f1e57207593336ade91f",
|
| 112 |
+
"source/rambo/rambo/recording_lift_v2.py": "316a6e1c3a7c77c0f79c888817cfa7c0d7771b08ea490094c979644a16a0a1a6",
|
| 113 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/qp_env.py": "f59274bab072cd8485ad53bd7ddb17fb98c338dd2afde260619d91b374faf97d",
|
| 114 |
+
"source/rambo/rambo/tasks/direct/rambo_quadruped/lift_basket_v2.py": "97a0d7137c7c8cf35914f81a5372bf36c8787f25ee908b36494308015b610c4a",
|
| 115 |
+
"source/rambo/rambo/tasks/common/lift_basket_geometry.py": "9518b78483f10975c3c9dc68cdca895e0f583698c33669a196bdf6eb75b23296",
|
| 116 |
+
"source/rambo/rambo/tasks/common/lift_basket_expert.py": "b960eeabe1bd0c6d789f7dfec75cc8f57066b34e03f218cd3a76d727889c4cdb",
|
| 117 |
+
"configs/lift_basket_v2.json": "9ce9a0467733e747e7c604cf7b3ff1ce050b1d1446f32e9185c7907d45ad7011",
|
| 118 |
+
"scripts/rambo/collect_lift_basket_v2.py": "96253c5b7c7e83d42e8dbad052f54e2423ea38384b2ff4efc883aa0ce6fd4c46"
|
| 119 |
+
},
|
| 120 |
+
"profile": {
|
| 121 |
+
"fall": {
|
| 122 |
+
"base_height_lt": 0.1,
|
| 123 |
+
"projected_gravity_error_gt": 0.75
|
| 124 |
+
},
|
| 125 |
+
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|
| 126 |
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|
| 127 |
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|
| 128 |
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| 129 |
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| 132 |
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|
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| 143 |
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|
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|
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|
| 146 |
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|
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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},
|
| 158 |
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|
| 159 |
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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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|
| 194 |
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|
| 195 |
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| 196 |
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|
| 197 |
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| 295 |
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| 296 |
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| 297 |
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| 298 |
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|
| 299 |
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| 316 |
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| 317 |
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| 1 |
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{
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| 2 |
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"work_id": "DATA-009",
|
| 3 |
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"scenario": {
|
| 4 |
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"id": "lift_demo_01",
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|
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|
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},
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"mode": "demonstration",
|
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|
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|
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|
| 24 |
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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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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
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|
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|
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|
| 58 |
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|
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|
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| 198 |
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