Add sweep/episode_0043 (part 2)
Browse files- .gitattributes +4 -0
- sweep/episode_0043/fused/034667.npz +3 -0
- sweep/episode_0043/fused/034668.npz +3 -0
- sweep/episode_0043/fused/034669.npz +3 -0
- sweep/episode_0043/fused/034670.npz +3 -0
- sweep/episode_0043/fused/034671.npz +3 -0
- sweep/episode_0043/fused/034672.npz +3 -0
- sweep/episode_0043/fused/034673.npz +3 -0
- sweep/episode_0043/fused/034674.npz +3 -0
- sweep/episode_0043/fused/034675.npz +3 -0
- sweep/episode_0043/fused/034676.npz +3 -0
- sweep/episode_0043/fused/034677.npz +3 -0
- sweep/episode_0043/fused/034678.npz +3 -0
- sweep/episode_0043/fused/034679.npz +3 -0
- sweep/episode_0043/fused/034680.npz +3 -0
- sweep/episode_0043/fused/034681.npz +3 -0
- sweep/episode_0043/fused/034682.npz +3 -0
- sweep/episode_0043/fused/034683.npz +3 -0
- sweep/episode_0043/fused/034684.npz +3 -0
- sweep/episode_0043/fused/034685.npz +3 -0
- sweep/episode_0043/fused/034686.npz +3 -0
- sweep/episode_0043/fused/034687.npz +3 -0
- sweep/episode_0043/fused/034688.npz +3 -0
- sweep/episode_0043/fused/034689.npz +3 -0
- sweep/episode_0043/fused/034690.npz +3 -0
- sweep/episode_0043/fused/034691.npz +3 -0
- sweep/episode_0043/fused/034692.npz +3 -0
- sweep/episode_0043/fused/034693.npz +3 -0
- sweep/episode_0043/fused/034694.npz +3 -0
- sweep/episode_0043/fused/034695.npz +3 -0
- sweep/episode_0043/fused/034696.npz +3 -0
- sweep/episode_0043/fused/034697.npz +3 -0
- sweep/episode_0043/fused/034698.npz +3 -0
- sweep/episode_0043/left_wrist.mp4 +3 -0
- sweep/episode_0043/left_wrist_depth.mkv +3 -0
- sweep/episode_0043/low_dim.npz +3 -0
- sweep/episode_0043/meta.json +123 -0
- sweep/episode_0043/pc_downsampled.npz +3 -0
- sweep/episode_0043/right_wrist.mp4 +3 -0
- sweep/episode_0043/right_wrist_depth.mkv +3 -0
- sweep/episode_0043/side.mp4 +3 -0
- sweep/episode_0043/side_depth.mkv +3 -0
- sweep/episode_0043/table_region.json +37 -0
- sweep/episode_0043/top.mp4 +3 -0
- sweep/episode_0043/top_depth.mkv +3 -0
.gitattributes
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sweep/episode_0042/right_wrist_depth.mkv filter=lfs diff=lfs merge=lfs -text
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sweep/episode_0042/side_depth.mkv filter=lfs diff=lfs merge=lfs -text
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sweep/episode_0042/top_depth.mkv filter=lfs diff=lfs merge=lfs -text
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sweep/episode_0042/right_wrist_depth.mkv filter=lfs diff=lfs merge=lfs -text
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sweep/episode_0042/side_depth.mkv filter=lfs diff=lfs merge=lfs -text
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sweep/episode_0042/top_depth.mkv filter=lfs diff=lfs merge=lfs -text
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sweep/episode_0043/left_wrist_depth.mkv filter=lfs diff=lfs merge=lfs -text
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sweep/episode_0043/right_wrist_depth.mkv filter=lfs diff=lfs merge=lfs -text
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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 |
+
"task": "sweep",
|
| 3 |
+
"arm": "yam",
|
| 4 |
+
"version": 1,
|
| 5 |
+
"cameras": [
|
| 6 |
+
"top",
|
| 7 |
+
"side",
|
| 8 |
+
"left_wrist",
|
| 9 |
+
"right_wrist"
|
| 10 |
+
],
|
| 11 |
+
"camera_color_profiles": {
|
| 12 |
+
"top": "1280x720@30",
|
| 13 |
+
"side": "640x480@30",
|
| 14 |
+
"left_wrist": "640x480@30",
|
| 15 |
+
"right_wrist": "640x480@30"
|
| 16 |
+
},
|
| 17 |
+
"intrinsics": {
|
| 18 |
+
"top": [
|
| 19 |
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[
|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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],
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| 24 |
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[
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| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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],
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| 29 |
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[
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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]
|
| 34 |
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],
|
| 35 |
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"side": [
|
| 36 |
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[
|
| 37 |
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|
| 38 |
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|
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|
| 40 |
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| 41 |
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[
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| 42 |
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| 43 |
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|
| 44 |
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|
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| 46 |
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| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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],
|
| 52 |
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"left_wrist": [
|
| 53 |
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[
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| 54 |
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|
| 55 |
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| 56 |
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[
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| 60 |
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[
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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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"right_wrist": [
|
| 70 |
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[
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| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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],
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| 75 |
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[
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| 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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[
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| 81 |
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| 82 |
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|
| 83 |
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1.0
|
| 84 |
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]
|
| 85 |
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]
|
| 86 |
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},
|
| 87 |
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"depth_scale": {
|
| 88 |
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"top": 0.001,
|
| 89 |
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"side": 0.001,
|
| 90 |
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"left_wrist": 0.0001,
|
| 91 |
+
"right_wrist": 0.0001
|
| 92 |
+
},
|
| 93 |
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"depth_videos": "<role>_depth.mkv: FFV1 16-bit lossless, one frame per tick, aligned to the colour video; metres = raw * depth_scale[role], 0 = no measurement",
|
| 94 |
+
"fusion": {
|
| 95 |
+
"stride": 2,
|
| 96 |
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"voxel": 0.004,
|
| 97 |
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"table_region": "table_region.json",
|
| 98 |
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"saved": true
|
| 99 |
+
},
|
| 100 |
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"frames": "left arm base frame (x forward, z up); cam_pose_<role> per tick in low_dim.npz; right arm through calib.json T_lb_rb",
|
| 101 |
+
"arms": {
|
| 102 |
+
"left": {
|
| 103 |
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"follower_can": "can0",
|
| 104 |
+
"leader_can": "can4"
|
| 105 |
+
},
|
| 106 |
+
"right": {
|
| 107 |
+
"follower_can": "can2",
|
| 108 |
+
"leader_can": "can6"
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"action_source": "leader command via get_last_command; falls back to measured pos when disengaged",
|
| 112 |
+
"low_dim_keys": {
|
| 113 |
+
"joint_pos_<side> ... engaged_<side>": "as bimanual_teleop_record.py",
|
| 114 |
+
"cam_pose_<role>": "4x4 camera pose in the left base frame at this tick (wrists from the joints read with the frame)",
|
| 115 |
+
"t_cap": "wall-clock capture time of this tick's camera frames"
|
| 116 |
+
},
|
| 117 |
+
"sim": false,
|
| 118 |
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"n_fused": 281,
|
| 119 |
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"n_frames": 405,
|
| 120 |
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"fps": 30,
|
| 121 |
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"failed": false,
|
| 122 |
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"saved_at": "2026-11-06T23:02:08"
|
| 123 |
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}
|
sweep/episode_0043/pc_downsampled.npz
ADDED
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ADDED
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ADDED
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ADDED
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version https://git-lfs.github.com/spec/v1
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ADDED
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sweep/episode_0043/table_region.json
ADDED
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|
| 1 |
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{
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| 3 |
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|
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|
| 36 |
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|
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sweep/episode_0043/top.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 4837592
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sweep/episode_0043/top_depth.mkv
ADDED
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version https://git-lfs.github.com/spec/v1
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size 41739592
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