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  1. README.md +18 -0
  2. episode_0000/frames.csv +0 -0
  3. episode_0000/metadata.json +63 -0
  4. episode_0001/frames.csv +0 -0
  5. episode_0001/metadata.json +63 -0
  6. episode_0002/frames.csv +0 -0
  7. episode_0002/metadata.json +63 -0
  8. episode_0003/frames.csv +0 -0
  9. episode_0003/metadata.json +63 -0
  10. episode_0004/frames.csv +0 -0
  11. episode_0004/metadata.json +63 -0
  12. episode_0005/frames.csv +0 -0
  13. episode_0005/metadata.json +63 -0
  14. episode_0006/frames.csv +0 -0
  15. episode_0006/metadata.json +63 -0
  16. episode_0007/frames.csv +0 -0
  17. episode_0007/metadata.json +63 -0
  18. episode_0008/frames.csv +0 -0
  19. episode_0008/metadata.json +63 -0
  20. episode_0009/frames.csv +0 -0
  21. episode_0009/metadata.json +63 -0
  22. episode_0010/frames.csv +0 -0
  23. episode_0010/metadata.json +63 -0
  24. episode_0011/frames.csv +0 -0
  25. episode_0011/metadata.json +63 -0
  26. episode_0012/frames.csv +0 -0
  27. episode_0012/metadata.json +63 -0
  28. episode_0013/frames.csv +0 -0
  29. episode_0013/metadata.json +63 -0
  30. episode_0014/frames.csv +0 -0
  31. episode_0014/left.actions.eef_pose/data.csv +405 -0
  32. episode_0014/left.actions.joint_position/data.csv +405 -0
  33. episode_0014/left.observation.state.eef_pose/data.csv +405 -0
  34. episode_0014/left.observation.state.joint_position/data.csv +405 -0
  35. episode_0014/left.observation.state/data.jsonl +0 -0
  36. episode_0014/metadata.json +63 -0
  37. episode_0014/right.actions.eef_pose/data.csv +405 -0
  38. episode_0014/right.actions.joint_position/data.csv +405 -0
  39. episode_0014/right.observation.state.eef_pose/data.csv +405 -0
  40. episode_0014/right.observation.state.joint_position/data.csv +405 -0
  41. episode_0015/frames.csv +0 -0
  42. episode_0015/metadata.json +63 -0
  43. episode_0016/frames.csv +0 -0
  44. episode_0016/metadata.json +63 -0
  45. episode_0017/frames.csv +0 -0
  46. episode_0017/metadata.json +63 -0
  47. episode_0018/frames.csv +0 -0
  48. episode_0018/metadata.json +63 -0
  49. episode_0019/frames.csv +0 -0
  50. episode_0019/metadata.json +63 -0
README.md ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: other
3
+ ---
4
+
5
+ # pnp
6
+
7
+ 双臂 Flexiv 数据采集数据集，任务指令：`Clean the table`。
8
+
9
+ - Episodes: 20 (`episode_0000`–`episode_0019`)
10
+ - Total frames: 9394
11
+ - Recording rate: 30 Hz
12
+ - Control rate: 100 Hz
13
+ - Cameras: left `260322279602`, right `260322271470`, overview `254522075549`
14
+ - Each episode contains three camera image streams, synchronized frame index, robot state JSONL, joint-position CSVs, EEF-pose CSVs, and metadata.
15
+ - Joint angles are recorded in radians in the observation/action CSVs; `metadata.json` start-position fields are in degrees.
16
+ - Observation `gripper` is measured gripper width in meters; action `gripper` is normalized command in `[0, 1]`.
17
+
18
+ This dataset was exported from `/home/asus/flexiv_datasets/pnp` without changing the source episode files.
episode_0000/frames.csv ADDED
The diff for this file is too large to render. See raw diff
 
episode_0000/metadata.json ADDED
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+ {
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+ "format_version": 1,
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+ "episode_index": 0,
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+ "task_instruction": "Clean the table",
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+ "created_at": "2026-09-18T19:04:18+0800",
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+ "duration_s": 17.0,
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+ "num_frames": 511,
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+ "control_hz": 100.0,
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+ "record_hz": 30.0,
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+ "stiffness_ratio": 1,
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+ "gripper_force_n": 80,
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+ "gripper_speed": 0.2,
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+ "teleop": {
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+ "left_sm_index": 0,
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+ "right_sm_index": 1,
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+ "left_pos_scale": 0.001,
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+ "right_pos_scale": 0.001,
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+ "left_rot_scale": 0.005,
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+ "right_rot_scale": 0.005,
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+ "translation_frame": "base",
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+ "operator_translation_signs": [
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+ 1.0,
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+ 1.0,
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+ 1.0
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+ ],
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+ "motion_threshold": 0.1,
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+ "rotation_motion_threshold": 0.05,
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+ "response_exponent": 2.0,
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+ "workspace_limit_disabled": true
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+ },
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+ "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
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+ "left_robot_sn": "Rizon4-063609",
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+ "right_robot_sn": "Rizon4-063610",
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+ "left_start_position_deg": [
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+ 43.32,
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+ -103.05,
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+ -52.6,
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+ 78.06,
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+ -20.03,
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+ 31.71,
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+ 45.47
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+ ],
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+ "right_start_position_deg": [
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+ -17.55,
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+ -108.92,
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+ 52.41,
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+ 44.52,
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+ 33.43,
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+ 19.96,
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+ -46.22
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+ ],
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+ "cameras": {
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+ "left": "260322279602",
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+ "right": "260322271470",
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+ "overview": "254522075549"
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+ },
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+ "camera_stream": {
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+ "width": 640,
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+ "height": 480,
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+ "fps": 30,
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+ "format": "color bgr8 encoded as JPEG"
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+ }
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+ }
episode_0001/frames.csv ADDED
The diff for this file is too large to render. See raw diff
 
episode_0001/metadata.json ADDED
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+ {
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+ "format_version": 1,
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+ "episode_index": 1,
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+ "task_instruction": "Clean the table",
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+ "created_at": "2026-09-18T19:05:14+0800",
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+ "duration_s": 16.066,
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+ "num_frames": 483,
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+ "control_hz": 100.0,
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+ "record_hz": 30.0,
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+ "stiffness_ratio": 1,
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+ "gripper_force_n": 80,
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+ "gripper_speed": 0.2,
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+ "teleop": {
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+ "left_sm_index": 0,
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+ "right_sm_index": 1,
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+ "left_pos_scale": 0.001,
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+ "right_pos_scale": 0.001,
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+ "left_rot_scale": 0.005,
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+ "right_rot_scale": 0.005,
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+ "translation_frame": "base",
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+ "operator_translation_signs": [
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+ 1.0,
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+ 1.0,
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+ 1.0
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+ ],
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+ "motion_threshold": 0.1,
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+ "rotation_motion_threshold": 0.05,
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+ "response_exponent": 2.0,
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+ "workspace_limit_disabled": true
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+ },
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+ "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
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+ "left_robot_sn": "Rizon4-063609",
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+ "right_robot_sn": "Rizon4-063610",
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+ "left_start_position_deg": [
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+ 43.32,
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+ -103.05,
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+ -52.6,
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+ 78.06,
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+ -20.03,
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+ 31.71,
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+ 45.47
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+ ],
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+ "right_start_position_deg": [
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+ -17.55,
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+ -108.92,
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+ 52.41,
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+ 44.52,
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+ 33.43,
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+ 19.96,
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+ -46.22
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+ ],
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+ "cameras": {
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+ "left": "260322279602",
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+ "right": "260322271470",
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+ "overview": "254522075549"
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+ },
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+ "camera_stream": {
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+ "width": 640,
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+ "height": 480,
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+ "fps": 30,
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+ "format": "color bgr8 encoded as JPEG"
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+ }
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+ }
episode_0002/frames.csv ADDED
The diff for this file is too large to render. See raw diff
 
episode_0002/metadata.json ADDED
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+ {
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+ "task_instruction": "Clean the table",
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+ "created_at": "2026-09-18T19:05:43+0800",
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+ "duration_s": 15.366,
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+ "num_frames": 462,
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+ "control_hz": 100.0,
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+ "record_hz": 30.0,
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+ "stiffness_ratio": 1,
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+ "gripper_force_n": 80,
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+ "gripper_speed": 0.2,
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+ "teleop": {
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+ "right_pos_scale": 0.001,
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+ "translation_frame": "base",
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+ "operator_translation_signs": [
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+ 1.0
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+ "motion_threshold": 0.1,
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+ "rotation_motion_threshold": 0.05,
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+ "response_exponent": 2.0,
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+ "workspace_limit_disabled": true
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+ },
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+ "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
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+ "left_robot_sn": "Rizon4-063609",
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+ "right_robot_sn": "Rizon4-063610",
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+ "left_start_position_deg": [
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+ 43.32,
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+ -103.05,
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+ -52.6,
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+ 78.06,
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+ -20.03,
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+ 31.71,
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+ 45.47
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+ ],
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+ "right_start_position_deg": [
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+ -17.55,
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+ -108.92,
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+ 52.41,
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+ 44.52,
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+ 33.43,
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+ 19.96,
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+ -46.22
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+ ],
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+ "cameras": {
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+ "left": "260322279602",
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+ "right": "260322271470",
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+ "overview": "254522075549"
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+ },
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+ "camera_stream": {
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+ "width": 640,
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+ "height": 480,
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+ "fps": 30,
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+ "format": "color bgr8 encoded as JPEG"
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+ }
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+ }
episode_0003/frames.csv ADDED
The diff for this file is too large to render. See raw diff
 
episode_0003/metadata.json ADDED
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+ {
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+ "format_version": 1,
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+ "task_instruction": "Clean the table",
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+ "created_at": "2026-09-18T19:06:12+0800",
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+ "duration_s": 16.133,
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+ "num_frames": 485,
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+ "control_hz": 100.0,
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+ "record_hz": 30.0,
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+ "stiffness_ratio": 1,
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+ "gripper_force_n": 80,
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+ "gripper_speed": 0.2,
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+ "teleop": {
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+ "left_sm_index": 0,
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+ "right_sm_index": 1,
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+ "left_pos_scale": 0.001,
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+ "right_pos_scale": 0.001,
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+ "left_rot_scale": 0.005,
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+ "right_rot_scale": 0.005,
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+ "translation_frame": "base",
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+ "operator_translation_signs": [
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+ 1.0,
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+ 1.0,
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+ 1.0
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+ ],
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+ "motion_threshold": 0.1,
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+ "rotation_motion_threshold": 0.05,
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+ "response_exponent": 2.0,
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+ "workspace_limit_disabled": true
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+ },
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+ "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
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+ "left_robot_sn": "Rizon4-063609",
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+ "right_robot_sn": "Rizon4-063610",
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+ "left_start_position_deg": [
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+ 43.32,
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+ "right_start_position_deg": [
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+ 33.43,
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+ ],
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+ "cameras": {
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+ "left": "260322279602",
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+ "right": "260322271470",
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+ "overview": "254522075549"
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+ },
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+ "camera_stream": {
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+ "width": 640,
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+ "height": 480,
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+ "fps": 30,
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+ "format": "color bgr8 encoded as JPEG"
62
+ }
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+ }
episode_0004/frames.csv ADDED
The diff for this file is too large to render. See raw diff
 
episode_0004/metadata.json ADDED
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+ {
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+ "created_at": "2026-09-18T19:06:39+0800",
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+ "duration_s": 18.466,
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+ "num_frames": 555,
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+ "control_hz": 100.0,
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+ "record_hz": 30.0,
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+ "stiffness_ratio": 1,
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+ "gripper_force_n": 80,
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+ "gripper_speed": 0.2,
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+ "teleop": {
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+ "left_sm_index": 0,
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+ "right_sm_index": 1,
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+ "left_pos_scale": 0.001,
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+ "right_pos_scale": 0.001,
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+ "left_rot_scale": 0.005,
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+ "right_rot_scale": 0.005,
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+ "translation_frame": "base",
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+ "operator_translation_signs": [
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+ 1.0,
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+ 1.0,
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+ 1.0
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+ ],
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+ "motion_threshold": 0.1,
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+ "rotation_motion_threshold": 0.05,
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+ "response_exponent": 2.0,
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+ "workspace_limit_disabled": true
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+ },
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+ "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
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+ "left_robot_sn": "Rizon4-063609",
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+ "right_robot_sn": "Rizon4-063610",
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+ "left_start_position_deg": [
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+ -103.05,
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+ -52.6,
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+ ],
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+ "right_start_position_deg": [
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+ 44.52,
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+ 33.43,
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+ 19.96,
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+ ],
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+ "cameras": {
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+ "left": "260322279602",
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+ "right": "260322271470",
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+ "overview": "254522075549"
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+ },
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+ "camera_stream": {
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+ "width": 640,
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+ "height": 480,
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+ "fps": 30,
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+ "format": "color bgr8 encoded as JPEG"
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+ }
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+ }
episode_0005/frames.csv ADDED
The diff for this file is too large to render. See raw diff
 
episode_0005/metadata.json ADDED
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+ {
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+ "format_version": 1,
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+ "episode_index": 5,
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+ "task_instruction": "Clean the table",
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+ "created_at": "2026-09-18T19:07:14+0800",
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+ "duration_s": 16.1,
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+ "num_frames": 484,
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+ "control_hz": 100.0,
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+ "record_hz": 30.0,
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+ "stiffness_ratio": 1,
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+ "gripper_force_n": 80,
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+ "gripper_speed": 0.2,
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+ "teleop": {
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+ "left_sm_index": 0,
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+ "right_sm_index": 1,
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+ "left_pos_scale": 0.001,
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+ "right_pos_scale": 0.001,
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+ "left_rot_scale": 0.005,
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+ "right_rot_scale": 0.005,
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+ "translation_frame": "base",
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+ "operator_translation_signs": [
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+ 1.0,
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+ 1.0
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+ ],
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+ "motion_threshold": 0.1,
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+ "rotation_motion_threshold": 0.05,
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+ "response_exponent": 2.0,
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+ "workspace_limit_disabled": true
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+ },
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+ "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
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+ "left_robot_sn": "Rizon4-063609",
33
+ "right_robot_sn": "Rizon4-063610",
34
+ "left_start_position_deg": [
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+ -20.03,
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+ 31.71,
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+ ],
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+ "right_start_position_deg": [
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+ 33.43,
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+ 19.96,
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+ ],
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+ "cameras": {
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+ "left": "260322279602",
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+ "right": "260322271470",
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+ "overview": "254522075549"
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+ },
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+ "camera_stream": {
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+ "width": 640,
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+ "height": 480,
60
+ "fps": 30,
61
+ "format": "color bgr8 encoded as JPEG"
62
+ }
63
+ }
episode_0006/frames.csv ADDED
The diff for this file is too large to render. See raw diff
 
episode_0006/metadata.json ADDED
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+ {
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+ "format_version": 1,
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+ "episode_index": 6,
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+ "task_instruction": "Clean the table",
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+ "created_at": "2026-09-18T19:07:41+0800",
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+ "duration_s": 15.366,
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+ "num_frames": 462,
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+ "control_hz": 100.0,
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+ "record_hz": 30.0,
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+ "stiffness_ratio": 1,
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+ "gripper_force_n": 80,
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+ "gripper_speed": 0.2,
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+ "teleop": {
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+ "left_sm_index": 0,
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+ "right_sm_index": 1,
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+ "left_pos_scale": 0.001,
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+ "right_pos_scale": 0.001,
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+ "left_rot_scale": 0.005,
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+ "right_rot_scale": 0.005,
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+ "translation_frame": "base",
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+ "operator_translation_signs": [
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+ 1.0,
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+ 1.0
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+ ],
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+ "motion_threshold": 0.1,
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+ "rotation_motion_threshold": 0.05,
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+ "response_exponent": 2.0,
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+ "workspace_limit_disabled": true
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+ },
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+ "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
32
+ "left_robot_sn": "Rizon4-063609",
33
+ "right_robot_sn": "Rizon4-063610",
34
+ "left_start_position_deg": [
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+ -20.03,
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+ 31.71,
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+ 45.47
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+ ],
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+ "right_start_position_deg": [
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+ -108.92,
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+ 52.41,
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+ 19.96,
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+ ],
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+ "cameras": {
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+ "left": "260322279602",
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+ "right": "260322271470",
55
+ "overview": "254522075549"
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+ },
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+ "camera_stream": {
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+ "width": 640,
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+ "height": 480,
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+ "fps": 30,
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+ "format": "color bgr8 encoded as JPEG"
62
+ }
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+ }
episode_0007/frames.csv ADDED
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