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where-not-how-pushes

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where-not-how-pushes / README.md

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metadata

license: cc-by-4.0
viewer: false
pretty_name: where-not-how recorded box pushes
tags:
  - robotics
  - manipulation
  - pushing

where-not-how: recorded box pushes

38 webcam recordings of me pushing a box (81 x 81 x 32.5 mm, 80 g) across a table with one finger. The box's trajectory is the command for a simulated SO-101 pushing policy: https://github.com/jaimelopezruiz/where-not-how

ep_XXX.avi: Logitech C270, 1280x720, MJPG at quality 100, about 30 fps, fixed exposure.
ep_XXX_t.csv: per-frame timestamps (s).
ep_XXX_meta.json: capture settings, measured fps, hash of the camera intrinsics, prop dimensions.
calib/: checkerboard frames used for the camera calibration.
manifest.csv: every take with its category (straight, curve, turn, multi, showcase). Takes marked discard are listed there but not uploaded.

Markers: a 2x2 ArUco board (DICT_4X4_50, IDs 0-3) taped beside the workspace, and ID 10 on the box top. Extraction code and the processed trajectories are in the GitHub repo.