---
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.