[QLM-DATA-001] QLM-DATA-001-20261008-normal-v2 payload 100/556
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"videos/chunk-000/observation.images.task_centric/episode_000006.mp4": "5377b57a20a807fcedd76f0651b1d6c42468499e0c225d578dfc1d350ecaaf3a",
|
| 176 |
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"videos/chunk-000/observation.images.task_centric/episode_000007.mp4": "3a05f8bff1edbf1c1674c67e085407c1deea10552f33898efb58dac607593b11",
|
| 177 |
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"videos/chunk-000/observation.images.task_centric/episode_000008.mp4": "f682f4ee679684cb29bda37187c31b2befbe5e33c106c17630a068ec45032c39",
|
| 178 |
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"videos/chunk-000/observation.images.task_centric/episode_000009.mp4": "a0bf48ba9d556ceb4bd166ce77bcc0e16f0667e453c0f3d616c4906bfa180d51",
|
| 179 |
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"videos/chunk-000/observation.images.task_centric/episode_000010.mp4": "daee8a5f56aa8b0141c315d6f15a0608941b6e40587a77302f74dcdf8e68837d",
|
| 180 |
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"videos/chunk-000/observation.images.task_centric/episode_000011.mp4": "38b0b3393dd214ed08f072b5ff4d9aeaaacf14dfdd20e9f9b1d1e8936dae3bf3",
|
| 181 |
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"videos/chunk-000/observation.images.task_centric/episode_000012.mp4": "638b95579dcf03eaa3d51e2ffdf35efcd0521aebd42ca8e4ae257758cf619a7e",
|
| 182 |
+
"videos/chunk-000/observation.images.task_centric/episode_000013.mp4": "c57ead8a2f3cd29f3ed0b44e0accb1b2702914534a313bdc51ee142b282df723",
|
| 183 |
+
"videos/chunk-000/observation.images.task_centric/episode_000014.mp4": "b1cfdec651e1a0aefad9aade14d5d7aba3a675ff0dcc1f017a2d8206e94998d8",
|
| 184 |
+
"videos/chunk-000/observation.images.task_centric/episode_000015.mp4": "7b0cfb08496b0cfa75b3fde73d4313cf94b4784c9c3a9bd6e4f86efa108c933d",
|
| 185 |
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"videos/chunk-000/observation.images.task_centric/episode_000016.mp4": "5f8fe20a56b99aec4bc9bf496ecb787a7ed5e7d546a9bdaa15186713e8524869",
|
| 186 |
+
"videos/chunk-000/observation.images.task_centric/episode_000017.mp4": "568826fb5db8c0f95e52d83607ab21b6ced93a3cd9638a6ec87c5dba9cb0f137",
|
| 187 |
+
"videos/chunk-000/observation.images.task_centric/episode_000018.mp4": "b8bcc27f9f47100f3c52dc117c235aec25bbcea5435945e461363421b9530274",
|
| 188 |
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"videos/chunk-000/observation.images.task_centric/episode_000019.mp4": "a11cacde97608b5e17f998b46d1dd69f7a983b78731d6cc15091e4b99e2282d8"
|
| 189 |
+
}
|
canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/meta/contract.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,20 @@
|
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| 1 |
+
{"episode_index": 0, "tasks": ["Push the box into the target area."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Push the box into the target area."}]}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Push the box into the target area."], "length": 475, "action_config": [{"start_frame": 0, "end_frame": 475, "action_text": "Push the box into the target area."}]}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Push the box into the target area."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Push the box into the target area."}]}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Push the box into the target area."], "length": 477, "action_config": [{"start_frame": 0, "end_frame": 477, "action_text": "Push the box into the target area."}]}
|
| 5 |
+
{"episode_index": 4, "tasks": ["Push the box into the target area."], "length": 613, "action_config": [{"start_frame": 0, "end_frame": 613, "action_text": "Push the box into the target area."}]}
|
| 6 |
+
{"episode_index": 5, "tasks": ["Push the box into the target area."], "length": 575, "action_config": [{"start_frame": 0, "end_frame": 575, "action_text": "Push the box into the target area."}]}
|
| 7 |
+
{"episode_index": 6, "tasks": ["Push the box into the target area."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 460, "action_text": "Push the box into the target area."}]}
|
| 8 |
+
{"episode_index": 7, "tasks": ["Push the box into the target area."], "length": 486, "action_config": [{"start_frame": 0, "end_frame": 486, "action_text": "Push the box into the target area."}]}
|
| 9 |
+
{"episode_index": 8, "tasks": ["Push the box into the target area."], "length": 459, "action_config": [{"start_frame": 0, "end_frame": 459, "action_text": "Push the box into the target area."}]}
|
| 10 |
+
{"episode_index": 9, "tasks": ["Push the box into the target area."], "length": 489, "action_config": [{"start_frame": 0, "end_frame": 489, "action_text": "Push the box into the target area."}]}
|
| 11 |
+
{"episode_index": 10, "tasks": ["Push the box into the target area."], "length": 478, "action_config": [{"start_frame": 0, "end_frame": 478, "action_text": "Push the box into the target area."}]}
|
| 12 |
+
{"episode_index": 11, "tasks": ["Push the box into the target area."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 461, "action_text": "Push the box into the target area."}]}
|
| 13 |
+
{"episode_index": 12, "tasks": ["Push the box into the target area."], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "Push the box into the target area."}]}
|
| 14 |
+
{"episode_index": 13, "tasks": ["Push the box into the target area."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 451, "action_text": "Push the box into the target area."}]}
|
| 15 |
+
{"episode_index": 14, "tasks": ["Push the box into the target area."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Push the box into the target area."}]}
|
| 16 |
+
{"episode_index": 15, "tasks": ["Push the box into the target area."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "Push the box into the target area."}]}
|
| 17 |
+
{"episode_index": 16, "tasks": ["Push the box into the target area."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 457, "action_text": "Push the box into the target area."}]}
|
| 18 |
+
{"episode_index": 17, "tasks": ["Push the box into the target area."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 458, "action_text": "Push the box into the target area."}]}
|
| 19 |
+
{"episode_index": 18, "tasks": ["Push the box into the target area."], "length": 476, "action_config": [{"start_frame": 0, "end_frame": 476, "action_text": "Push the box into the target area."}]}
|
| 20 |
+
{"episode_index": 19, "tasks": ["Push the box into the target area."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "Push the box into the target area."}]}
|
canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/meta/info.json
ADDED
|
@@ -0,0 +1,402 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "go2_quadruped_native9",
|
| 4 |
+
"total_episodes": 20,
|
| 5 |
+
"total_frames": 9569,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 40,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 50,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:20"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
9
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"base_vx",
|
| 24 |
+
"base_vy",
|
| 25 |
+
"base_yaw_rate",
|
| 26 |
+
"fl_ee_x",
|
| 27 |
+
"fl_ee_y",
|
| 28 |
+
"fl_ee_z",
|
| 29 |
+
"fl_force_x",
|
| 30 |
+
"fl_force_y",
|
| 31 |
+
"fl_force_z"
|
| 32 |
+
]
|
| 33 |
+
},
|
| 34 |
+
"action.requested": {
|
| 35 |
+
"dtype": "float32",
|
| 36 |
+
"shape": [
|
| 37 |
+
9
|
| 38 |
+
],
|
| 39 |
+
"names": [
|
| 40 |
+
"base_vx",
|
| 41 |
+
"base_vy",
|
| 42 |
+
"base_yaw_rate",
|
| 43 |
+
"fl_ee_x",
|
| 44 |
+
"fl_ee_y",
|
| 45 |
+
"fl_ee_z",
|
| 46 |
+
"fl_force_x",
|
| 47 |
+
"fl_force_y",
|
| 48 |
+
"fl_force_z"
|
| 49 |
+
]
|
| 50 |
+
},
|
| 51 |
+
"simulation_time_ns": {
|
| 52 |
+
"dtype": "int64",
|
| 53 |
+
"shape": [
|
| 54 |
+
1
|
| 55 |
+
],
|
| 56 |
+
"names": [
|
| 57 |
+
"0"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
"physics_step": {
|
| 61 |
+
"dtype": "int64",
|
| 62 |
+
"shape": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"names": [
|
| 66 |
+
"0"
|
| 67 |
+
]
|
| 68 |
+
},
|
| 69 |
+
"execution.completed": {
|
| 70 |
+
"dtype": "bool",
|
| 71 |
+
"shape": [
|
| 72 |
+
1
|
| 73 |
+
],
|
| 74 |
+
"names": [
|
| 75 |
+
"0"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"execution.force_zero_modified": {
|
| 79 |
+
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canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/meta/scaleup.json
ADDED
|
@@ -0,0 +1,374 @@
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| 301 |
+
"trajectory_type": "normal",
|
| 302 |
+
"recovery_type": null,
|
| 303 |
+
"appearance_preset": "ap_03",
|
| 304 |
+
"asset_id": "cardboard-box-04",
|
| 305 |
+
"initial_condition_id": "ic_0097",
|
| 306 |
+
"goal_condition_id": "gc_0097",
|
| 307 |
+
"environment_seed": 202610070097
|
| 308 |
+
},
|
| 309 |
+
"accepted_attempt": 1,
|
| 310 |
+
"raw_manifest_sha256": "7c30c2f27b5a7a5d0416714fad0a47322dc1d86328068e452f48cc282f67e8cc",
|
| 311 |
+
"raw_path": "raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0097"
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"metadata": {
|
| 315 |
+
"episode_uid": "push_box__ep0098",
|
| 316 |
+
"task_id": "push_box",
|
| 317 |
+
"split": "train",
|
| 318 |
+
"difficulty": "randomized",
|
| 319 |
+
"trajectory_type": "normal",
|
| 320 |
+
"recovery_type": null,
|
| 321 |
+
"appearance_preset": "ap_03",
|
| 322 |
+
"asset_id": "cardboard-box-04",
|
| 323 |
+
"initial_condition_id": "ic_0098",
|
| 324 |
+
"goal_condition_id": "gc_0098",
|
| 325 |
+
"environment_seed": 202610070098
|
| 326 |
+
},
|
| 327 |
+
"accepted_attempt": 1,
|
| 328 |
+
"raw_manifest_sha256": "924011453a5aebc8003cbc85ec5b0e9bafaf0daaefb4e64bc27fe4718b7feda3",
|
| 329 |
+
"raw_path": "raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0098"
|
| 330 |
+
},
|
| 331 |
+
{
|
| 332 |
+
"metadata": {
|
| 333 |
+
"episode_uid": "push_box__ep0099",
|
| 334 |
+
"task_id": "push_box",
|
| 335 |
+
"split": "train",
|
| 336 |
+
"difficulty": "randomized",
|
| 337 |
+
"trajectory_type": "normal",
|
| 338 |
+
"recovery_type": null,
|
| 339 |
+
"appearance_preset": "ap_03",
|
| 340 |
+
"asset_id": "cardboard-box-04",
|
| 341 |
+
"initial_condition_id": "ic_0099",
|
| 342 |
+
"goal_condition_id": "gc_0099",
|
| 343 |
+
"environment_seed": 202610070099
|
| 344 |
+
},
|
| 345 |
+
"accepted_attempt": 1,
|
| 346 |
+
"raw_manifest_sha256": "7ebea3ca62160faf8cd518fffe4522cd850ac9035d38ebe28580ba856ea98064",
|
| 347 |
+
"raw_path": "raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0099"
|
| 348 |
+
},
|
| 349 |
+
{
|
| 350 |
+
"metadata": {
|
| 351 |
+
"episode_uid": "push_box__ep0100",
|
| 352 |
+
"task_id": "push_box",
|
| 353 |
+
"split": "train",
|
| 354 |
+
"difficulty": "randomized",
|
| 355 |
+
"trajectory_type": "normal",
|
| 356 |
+
"recovery_type": null,
|
| 357 |
+
"appearance_preset": "ap_03",
|
| 358 |
+
"asset_id": "cardboard-box-04",
|
| 359 |
+
"initial_condition_id": "ic_0100",
|
| 360 |
+
"goal_condition_id": "gc_0100",
|
| 361 |
+
"environment_seed": 202610070100
|
| 362 |
+
},
|
| 363 |
+
"accepted_attempt": 1,
|
| 364 |
+
"raw_manifest_sha256": "57860b9175517733901f1497724d1aa546bab7a6b7d931a3a3a4f1d4db61106b",
|
| 365 |
+
"raw_path": "raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0100"
|
| 366 |
+
}
|
| 367 |
+
],
|
| 368 |
+
"full100_release_completed": false,
|
| 369 |
+
"revised_recovery_completed": false,
|
| 370 |
+
"included_in_first_adaptation_training_evaluation": {
|
| 371 |
+
"v2": false,
|
| 372 |
+
"v3": false
|
| 373 |
+
}
|
| 374 |
+
}
|
canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/meta/split.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"unit": "episode",
|
| 3 |
+
"episodes": {
|
| 4 |
+
"train": [
|
| 5 |
+
"push_box__ep0081",
|
| 6 |
+
"push_box__ep0082",
|
| 7 |
+
"push_box__ep0083",
|
| 8 |
+
"push_box__ep0084",
|
| 9 |
+
"push_box__ep0085",
|
| 10 |
+
"push_box__ep0086",
|
| 11 |
+
"push_box__ep0087",
|
| 12 |
+
"push_box__ep0088",
|
| 13 |
+
"push_box__ep0089",
|
| 14 |
+
"push_box__ep0090",
|
| 15 |
+
"push_box__ep0091",
|
| 16 |
+
"push_box__ep0092",
|
| 17 |
+
"push_box__ep0093",
|
| 18 |
+
"push_box__ep0094",
|
| 19 |
+
"push_box__ep0095",
|
| 20 |
+
"push_box__ep0096",
|
| 21 |
+
"push_box__ep0097",
|
| 22 |
+
"push_box__ep0098",
|
| 23 |
+
"push_box__ep0099",
|
| 24 |
+
"push_box__ep0100"
|
| 25 |
+
]
|
| 26 |
+
},
|
| 27 |
+
"work_id": "QLM-DATA-001",
|
| 28 |
+
"source": "predeclared collection scenarios; never frame/window split"
|
| 29 |
+
}
|
canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Push the box into the target area."}
|
canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/metadata/push_box__ep0081/contact_provenance.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/metadata/push_box__ep0081/provenance.json
ADDED
|
@@ -0,0 +1,317 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"work_id": "QLM-DATA-001",
|
| 3 |
+
"scenario": {
|
| 4 |
+
"id": "push_box__ep0081",
|
| 5 |
+
"seed": 202610070081,
|
| 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 |
+
30.946299118108048,
|
| 17 |
+
31.346299118108046
|
| 18 |
+
],
|
| 19 |
+
"goal_y": [
|
| 20 |
+
-15.103950975583054,
|
| 21 |
+
-14.603950975583054
|
| 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_y_max"
|
| 88 |
+
},
|
| 89 |
+
"instruction": "Push the box into the target area.",
|
| 90 |
+
"scaleup_metadata": {
|
| 91 |
+
"episode_uid": "push_box__ep0081",
|
| 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_0081",
|
| 100 |
+
"goal_condition_id": "gc_0081",
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