diff --git a/data/episode_083/meta.json b/data/episode_083/meta.json index 1e684e9ea29d7a9a2ffa08263c99d25be5423f3b..68d3122c1e5b9e0d529130923ea948fc2eef0897 100644 --- a/data/episode_083/meta.json +++ b/data/episode_083/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 461, - "duration_s": 11.465046644210815, - "fps_actual": 40.209169164852746, + "created": "2026-09-20 10:08:22", + "n_steps": 379, + "duration_s": 10.064618349075317, + "fps_actual": 37.65666882289883, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_083/sim.mp4 b/data/episode_083/sim.mp4 index 44d37999ccc3c17a895fa2355642e3f54974aca9..74e9724db042ae6704723868ebcf9e63690d906f 100644 --- a/data/episode_083/sim.mp4 +++ b/data/episode_083/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f014363e819a5cfcbd451181ddf690fd1f81ba01dd5a1862cd89a4f04d35fd87 -size 8440328 +oid sha256:002aa24aa2b8e390f2477aeab5909724671fe3dbc5c17c46a5cabbe37f63f425 +size 5920066 diff --git a/data/episode_084/data.npz b/data/episode_084/data.npz index b89c339272eee4ec4c0fdba3f218b2fe175722ab..51c5b706d47c992feded894084c2b0ab20126a4b 100644 --- a/data/episode_084/data.npz +++ b/data/episode_084/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6da20f9b06478258cb797ff96108ab495a0cf0f47762fef544b7d79e9cee4f67 -size 191387 +oid sha256:bbe327ca92188a65bd622ebc1926a527abff42482c4136c2f5bccf1ff70bc231 +size 122738 diff --git a/data/episode_084/meta.json b/data/episode_084/meta.json index a25a8022d99157f09ffdc63f531973581d2ecd5b..e5efe0a7c78229edcd6f89ba9bf15af7715cba04 100644 --- a/data/episode_084/meta.json +++ b/data/episode_084/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 558, - "duration_s": 14.130701303482056, - "fps_actual": 39.48848595805354, + "created": "2026-09-20 10:08:22", + "n_steps": 357, + "duration_s": 9.524781227111816, + "fps_actual": 37.481175838854675, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_084/sim.mp4 b/data/episode_084/sim.mp4 index d25e54268d7ca3da3e546aee91836b0cec5ff3cf..b9d14959ef6e3452b15d2e89e77f03be40463b50 100644 --- a/data/episode_084/sim.mp4 +++ b/data/episode_084/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d94016183e51fcc58f81c9886a40a32a29bf38644a91407513e104ef27a5ba46 -size 9823107 +oid sha256:62d8f289320dd4a05ec21cf171b2a203fa7d16dd444e05d0a46dad6e0d08b7e4 +size 5932277 diff --git a/data/episode_085/data.npz b/data/episode_085/data.npz index 79504a3e3488ccacef6a7d0338f9d10748e39e5f..28e1c0f0d0a2ed13fa61313052f302923eb8a6e6 100644 --- a/data/episode_085/data.npz +++ b/data/episode_085/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:febfbacb0a9c20e059a9cc38eb0cc60329a92f45b512332f693f0038c9356ded -size 179419 +oid sha256:39bd11b4ad4e75aa883b5d0aa3758355a2bf8a4a3899d1019a8a7421ae3c51f0 +size 157231 diff --git a/data/episode_085/meta.json b/data/episode_085/meta.json index 576097357097a53785989f2069c7ca00ee740482..e32c3e232fd17e64cb8f6fa4714175605da0e6f0 100644 --- a/data/episode_085/meta.json +++ b/data/episode_085/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 512, - "duration_s": 12.9736807346344, - "fps_actual": 39.46451361587543, + "created": "2026-09-20 10:08:22", + "n_steps": 465, + "duration_s": 12.411095142364502, + "fps_actual": 37.46647613817345, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_085/sim.mp4 b/data/episode_085/sim.mp4 index db58d9b3d0ba3ac1cb15fbf09433c0e2d3bc66db..fc45b221555572f7ed25214f4b7e6ff587ade181 100644 --- a/data/episode_085/sim.mp4 +++ b/data/episode_085/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e878b8659dc073cf31aa509c5a421198d1395bf70057ad2f7bc1137266dfb53b -size 9298194 +oid sha256:5330c883492ac45ecff26150b00a81374339fffb65f522a5755d28c3cd8758ef +size 7344625 diff --git a/data/episode_086/data.npz b/data/episode_086/data.npz index 6d210d6d63e62e54ea59e8b918d563da6df2b454..8bcc130127d9bf66571a78c0b25856a2f20b82bc 100644 --- a/data/episode_086/data.npz +++ b/data/episode_086/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:be5deabf68d560a4b542afe380549f42968ffe8e2b10d71463ecd2fe7d6d8b06 -size 243670 +oid sha256:6cb8ec999ec5b54149be98a0aaa9e5e9da29d5457c00fe194c155cd1c3ea2147 +size 118351 diff --git a/data/episode_086/meta.json b/data/episode_086/meta.json index 1ec644952eef776aa7e4a2065f04d3d4684adfe7..0bcd061dc1f05f88d4cbeb2fddd875e04734bfe2 100644 --- a/data/episode_086/meta.json +++ b/data/episode_086/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 707, - "duration_s": 17.32855248451233, - "fps_actual": 40.79971484241933, + "created": "2026-09-20 10:08:22", + "n_steps": 341, + "duration_s": 9.093345642089844, + "fps_actual": 37.499949239984126, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_086/sim.mp4 b/data/episode_086/sim.mp4 index 166b32ad6f42412defcccb7927d34b1a3eadc17c..6e68a777f8b3f0c5c5fa43cdac48158d538b5fa0 100644 --- a/data/episode_086/sim.mp4 +++ b/data/episode_086/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:22053941986d70f0168ce4f5458c49015f97652a668d6824094f9d357bd694ed -size 12222803 +oid sha256:c1915b157b26c877276fec127070722a41143dedb08c553b2b8f2c50b42cdeec +size 5874338 diff --git a/data/episode_087/data.npz b/data/episode_087/data.npz index f02b3de0dfecabc24c9c1478ef03e80e56bf4421..cb97cdda181bd4dbea7b9ef75fba11873884468f 100644 --- a/data/episode_087/data.npz +++ b/data/episode_087/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:25f42efc2e5b6587e1f50afff7e8df06470403c9937faa807f45a5b834d2024f -size 164423 +oid sha256:aef14454e4fd1281f4fb98851536484f1fbf9341c1251c136212df3d4ad97071 +size 89951 diff --git a/data/episode_087/meta.json b/data/episode_087/meta.json index 2aa9ebaa07fe020c7e47b8da3d02f5b8f91d70d3..764c56832b915f3f7c90cafe92ed96e451020435 100644 --- a/data/episode_087/meta.json +++ b/data/episode_087/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 469, - "duration_s": 11.530797719955444, - "fps_actual": 40.673682028810425, + "created": "2026-09-20 10:08:22", + "n_steps": 255, + "duration_s": 6.939356565475464, + "fps_actual": 36.74692280097992, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_087/sim.mp4 b/data/episode_087/sim.mp4 index e0a477754c7dd1613c60bc7f925614eaf66613e6..4295e13fcba3a8618f6c8583057c796e1ec47174 100644 --- a/data/episode_087/sim.mp4 +++ b/data/episode_087/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0539c0cd5a092ad931cb613737211a0a34a84f2807d27cfb69f3455f113ce1b1 -size 8694947 +oid sha256:3dfb15fff04d9243d47c1a55f862261ff0a639fbb8c1ba1330b3cb1121bb59ac +size 4535836 diff --git a/data/episode_088/data.npz b/data/episode_088/data.npz index 1b16ae2a4f379f314269834dc7f42fca9c893508..2a0184e7838f458f508301c015bd010df88712a8 100644 --- a/data/episode_088/data.npz +++ b/data/episode_088/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d7c3c3b1db4bc97cce1feced7fed50cade8ce1ae1ea7b2246bd03eef24080c54 -size 135549 +oid sha256:b217be0dfa134ce8fe3efe46222659b782a5f22316d0b6b7a1c3f825fce4ec5b +size 147008 diff --git a/data/episode_088/meta.json b/data/episode_088/meta.json index 267852e8a56f5dfdf75d1c2f9cdc279881ecab2f..fab46bd55f314340ab087214edd40443fc223963 100644 --- a/data/episode_088/meta.json +++ b/data/episode_088/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 385, - "duration_s": 9.634979486465454, - "fps_actual": 39.95856976559432, + "created": "2026-09-20 10:08:22", + "n_steps": 431, + "duration_s": 11.44809103012085, + "fps_actual": 37.64819819007416, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_088/sim.mp4 b/data/episode_088/sim.mp4 index 67e9c75417a35fc12708022186923bb3251e7f35..f6ef95c8f43772f58ad3d139e5b25da13d820420 100644 --- a/data/episode_088/sim.mp4 +++ b/data/episode_088/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1a9c3be859f5dd9d89f8bd66eb39dcf39828a2fce2075ccc0c4c21c127d769db -size 6979868 +oid sha256:09d157f3fa2a36bdd556896e14991242bb8029207755220336b973de1b39fab1 +size 7841419 diff --git a/data/episode_089/data.npz b/data/episode_089/data.npz index 83b281d5cd98d2649c10a20f4f1d517ff1aa691a..33e9ff971f008f45b5129658f4e48d34f158802f 100644 --- a/data/episode_089/data.npz +++ b/data/episode_089/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4ad3ea379e2ac35afcab11437c9b57f30b29af2b98c44ff2f0ced8de97b7b654 -size 167750 +oid sha256:1d0c019e174b4a23971ea02f4a731a598bf3eadad7cacbf2ab9e8744fde03c8e +size 119536 diff --git a/data/episode_089/meta.json b/data/episode_089/meta.json index f49cff6df466daf9f537f4034a3021277a065f81..730da9c08363a5373b29668e1778f11ba42858fe 100644 --- a/data/episode_089/meta.json +++ b/data/episode_089/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 494, - "duration_s": 12.50534439086914, - "fps_actual": 39.503110395000185, + "created": "2026-09-20 10:08:22", + "n_steps": 351, + "duration_s": 9.369134187698364, + "fps_actual": 37.463440374337004, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_089/sim.mp4 b/data/episode_089/sim.mp4 index 1f6360f6acd9981161759bbc8cca809603d1303f..c2253f22fd8af62f1e2fdb98589032cdd2704e06 100644 --- a/data/episode_089/sim.mp4 +++ b/data/episode_089/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:75d057f5a8a131dfb2fb91a0e9de123d173bf660ab0a08557bfc98bd5b0a685b -size 8886364 +oid sha256:c072b85a4984488cc376efc2213b3015137e9b153d132e9ccf9f9425cc2823ca +size 5961712 diff --git a/data/episode_090/data.npz b/data/episode_090/data.npz index 8f726043c7973d5aa1dfb50a27ed7f347783aae2..a5b7902b1e771b11c30210dfd62604b77a5d184a 100644 --- a/data/episode_090/data.npz +++ b/data/episode_090/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0ac79dec04a36be7e40d44b28470c121c835fe7c679a3b9606fddb23e370984f -size 139446 +oid sha256:ea84acfbfef46e22aad6bbce112d42c469907090866bc9503d5a581884569aac +size 117252 diff --git a/data/episode_090/meta.json b/data/episode_090/meta.json index 0ff6a51929679b93272900aa76f61ce8b01acffa..fbd490865c07ca7764a4f9a1dd2449b30bccdbd2 100644 --- a/data/episode_090/meta.json +++ b/data/episode_090/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 417, - "duration_s": 10.587337493896484, - "fps_actual": 39.38667301768714, + "created": "2026-09-20 10:08:22", + "n_steps": 354, + "duration_s": 9.371694564819336, + "fps_actual": 37.77331810715326, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_090/sim.mp4 b/data/episode_090/sim.mp4 index df74c47e2f19680c2c2857a61713ea19de7dca20..877fe0feaf84191608dbad42ffe2c1a8f3c041d8 100644 --- a/data/episode_090/sim.mp4 +++ b/data/episode_090/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bb7ea524a9b2f5d8b6c3988f7b5cab5dcf1f7c6b369d0a41b61c34bf0dc2554f -size 7413511 +oid sha256:c22072e3c29395b9a05a8c4dd1c5ad55c3129e49c810344a51850ddaba8bb6a2 +size 5606031 diff --git a/data/episode_091/data.npz b/data/episode_091/data.npz index e8188ce7940d641134cd66c58ce06d7dbc3acdf5..ae8a9fbdd7a58655a6d6222420afa366a3e454b7 100644 --- a/data/episode_091/data.npz +++ b/data/episode_091/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f05bc22ba10420188eb9f4b3eaf2ae9fde699b1af28fb4040189a81aa64806fc -size 163435 +oid sha256:fe58507814be82c1bce35e5a844316cbef84963ebbaf9d7e09b04308e7663270 +size 104563 diff --git a/data/episode_091/meta.json b/data/episode_091/meta.json index bef0eba6a0111bfdd22df8d38175f5e4ba894d98..32c99b72a30a945cd23ce4c59c544bc07cdae038 100644 --- a/data/episode_091/meta.json +++ b/data/episode_091/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 485, - "duration_s": 12.105732917785645, - "fps_actual": 40.06366267072041, + "created": "2026-09-20 10:08:22", + "n_steps": 309, + "duration_s": 8.175558090209961, + "fps_actual": 37.79558491181419, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_091/sim.mp4 b/data/episode_091/sim.mp4 index c9abf571b571606235b6cad11370ee138723ab6b..cd2f63f02e8b81b81ec23d2fa5b225f0b779689f 100644 --- a/data/episode_091/sim.mp4 +++ b/data/episode_091/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:87eecbd16d0e2787994a76d833824e7b0703a5ecbe5b3f613465f7ebecd82e97 -size 8226242 +oid sha256:676eded6ed19851ead7e164d22f1cf1aaacd26958e18ae39e4e67dadf932ace6 +size 5308266 diff --git a/data/episode_092/data.npz b/data/episode_092/data.npz index 9e555daa8ccd6ab497913e1fee9589b5acc87583..7e4ab2c07058bb4fb1cfab3eb262a879e36e337f 100644 --- a/data/episode_092/data.npz +++ b/data/episode_092/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:800801a8556f2060c6131fa80d1985997c6548a7b66f03282d2131df98d235cf -size 147944 +oid sha256:13360180c766c8399fbc5fddc78dd0c4db7bd88d6fa287f89533871ba76bed4b +size 135798 diff --git a/data/episode_092/meta.json b/data/episode_092/meta.json index 2b4b60332194af29b56b1b44a90bb36e3dd23200..c7f9e39120d21db3aa561015de5f6743119428e2 100644 --- a/data/episode_092/meta.json +++ b/data/episode_092/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 431, - "duration_s": 10.476724863052368, - "fps_actual": 41.138810614372595, + "created": "2026-09-20 10:08:22", + "n_steps": 397, + "duration_s": 10.542426824569702, + "fps_actual": 37.657363584897716, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_092/sim.mp4 b/data/episode_092/sim.mp4 index c69ffe5ba68f1092d10c72f5de991ea51ed4e47d..f5b044b54e9841785a0c9ede5bdc20f264f10b83 100644 --- a/data/episode_092/sim.mp4 +++ b/data/episode_092/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8d7448a9f24362d0999eec2ccc87cd83908181dd33d13514abf81f92a3977909 -size 7714060 +oid sha256:1eeb99cc0604f34d3b28d90e8004e93a91cd9cf53557b2b9e3b278a3ef254c43 +size 6996351 diff --git a/data/episode_093/data.npz b/data/episode_093/data.npz index 3858da19ad53eb954979438465736531c2508150..605495784a446fa343ff54d93dd53e82da53ae6f 100644 --- a/data/episode_093/data.npz +++ b/data/episode_093/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f2b131a77b2095ec5162888292bb7025fb50193163ade2d23d02621b3c066298 -size 136979 +oid sha256:42fe62fa25a073498a5949ca1ab598839fb446faa2a39ae605a1eb5f87b5731d +size 138263 diff --git a/data/episode_093/meta.json b/data/episode_093/meta.json index 687ba54cb6766ecb2dff7e9998acbccf9a6f663f..ef82e86fdb44e23a08e0e73981445ccdd609bb03 100644 --- a/data/episode_093/meta.json +++ b/data/episode_093/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 397, - "duration_s": 10.205232620239258, - "fps_actual": 38.901612023292856, + "created": "2026-09-20 10:08:22", + "n_steps": 398, + "duration_s": 11.04434609413147, + "fps_actual": 36.03653820767909, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_093/sim.mp4 b/data/episode_093/sim.mp4 index 697a960832664583a50a1f11cf86fb46970d2240..ac45fb01b5e3baaf6d8bd6915007a0e4cf167c6b 100644 --- a/data/episode_093/sim.mp4 +++ b/data/episode_093/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ff9b360d267bac6eb3d6a773feff0ab1e35c03c2848877a35353b481152c6129 -size 7044525 +oid sha256:62ea92995aa14e9994c334b56fac29bf6cb82087de3f5039aae8066ff029a782 +size 7094085 diff --git a/data/episode_094/data.npz b/data/episode_094/data.npz index 22c96b77ad41391fe4d7fd63721ecf7e328e6d95..45012006528c19cc9c923833d7defaf87e91b092 100644 --- a/data/episode_094/data.npz +++ b/data/episode_094/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bbc84e445573541ceef2ea0703ac25096d441c0df0db52b44274909e8f8d0e56 -size 152075 +oid sha256:6b61993b054cea3c86316bd8fc8d0a8f188484cfd67eda89efc64415be47e097 +size 114153 diff --git a/data/episode_094/meta.json b/data/episode_094/meta.json index 19c9851f398d57bdc7c404ca16315bdc429529f0..6401a7a67b060fe71becfc43ba0c818752f8ff14 100644 --- a/data/episode_094/meta.json +++ b/data/episode_094/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 437, - "duration_s": 10.852540016174316, - "fps_actual": 40.267071058821955, + "created": "2026-09-20 10:08:22", + "n_steps": 327, + "duration_s": 8.710880041122437, + "fps_actual": 37.53926106849068, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_094/sim.mp4 b/data/episode_094/sim.mp4 index 4a08255d3343399f854ee798b548035bdb3acc0c..d7478c9cc883e361200bac93d6ba5db5d184dab5 100644 --- a/data/episode_094/sim.mp4 +++ b/data/episode_094/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a1c075a8bbab4951f53c0197da11cbc219d73b34c64ee6272e932cef63abd988 -size 8086288 +oid sha256:3e509a23e3320c2257ee751830d5dca10d405214ef656c09db2569e5269df5b0 +size 5771930 diff --git a/data/episode_095/data.npz b/data/episode_095/data.npz index 0fc288a8ea8781fda47ab343da47ae3fe292fb89..10ffc2e82dba2acc5ba22664970953fffba3bc6c 100644 --- a/data/episode_095/data.npz +++ b/data/episode_095/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a6a94ecbd33c0666137c5d0afa758f1ca7304437c2ea4eeabefb4363b2a72497 -size 132628 +oid sha256:e17cb958e16f099d9e07d6bc226e164d4274d9468e991a365848e21fda5cccac +size 81661 diff --git a/data/episode_095/meta.json b/data/episode_095/meta.json index a91b3ac507a85026ad705f726ccd45cf81e7ad0b..a2686a072ad8da65a6c8a4fe42fca5795d2d5520 100644 --- a/data/episode_095/meta.json +++ b/data/episode_095/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 384, - "duration_s": 9.556656837463379, - "fps_actual": 40.18141558611463, + "created": "2026-09-20 10:08:22", + "n_steps": 228, + "duration_s": 6.21851658821106, + "fps_actual": 36.66469273913941, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_095/sim.mp4 b/data/episode_095/sim.mp4 index 480a2dbe89a2989b08e754937c075ae1f82b4998..63864ad8089fa113dd19fb12b04e5af7355f5c35 100644 --- a/data/episode_095/sim.mp4 +++ b/data/episode_095/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5aab2f47e302850dfb00abe5048f364b6b57576dbefe1f0e72406f894f8e2718 -size 7023796 +oid sha256:18c7ce59dd48b54c870e126f22e1a0498f2f21f99a345df134f751e88d05fd35 +size 4166026 diff --git a/data/episode_096/data.npz b/data/episode_096/data.npz index 5e48f9eb4d10af7799fc62056c4dfc2478460e72..0d31a5f5912fd8486df6b0fc0e07c1a2453889e3 100644 --- a/data/episode_096/data.npz +++ b/data/episode_096/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:45fc4fcd82408763c1062b91591cc64cb35d478b49d3bc7a625f50181169e222 -size 182055 +oid sha256:970f6f99988e1276c059ea0a45ea7d53b238f9c9111e079c1ff06e79d9f92737 +size 130628 diff --git a/data/episode_096/meta.json b/data/episode_096/meta.json index 7f7522021faf88916d00d09e79a6dc181eee3a2f..38650090ae2dbc0f3f47f9a6485b85d5adbb145e 100644 --- a/data/episode_096/meta.json +++ b/data/episode_096/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 519, - "duration_s": 12.977537870407104, - "fps_actual": 39.992177652086404, + "created": "2026-09-20 10:08:22", + "n_steps": 381, + "duration_s": 10.479952096939087, + "fps_actual": 36.35512800781598, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_096/sim.mp4 b/data/episode_096/sim.mp4 index a077f11671362a20ec2868746c6b714c22937b67..2696014f9edc497fda3652417fa48a7a2ce394af 100644 --- a/data/episode_096/sim.mp4 +++ b/data/episode_096/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6be4b991cc4cbe139c7eab110eb86cb40866938dfe1fdf643ed84e0a81627dc8 -size 9851629 +oid sha256:eac7d31a616135fc785c7f1256c5b43f7d29d7a6e394ce76096b9aa8005c1e2b +size 6727927 diff --git a/data/episode_097/data.npz b/data/episode_097/data.npz index 27f547796d5ee2ab18d0237cf5de83cbeefa5530..c841984b8058f12c12d2ff851929b6e47ee3f045 100644 --- a/data/episode_097/data.npz +++ b/data/episode_097/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:896e965061a423f68860fd6b3873f4419e06cafe2ea3389685c796b42d89bcbb -size 161881 +oid sha256:ab77f123c63aed54497f5f430b7c06ee24bd82ea297d6221a1a137bdc9af4b51 +size 126681 diff --git a/data/episode_097/meta.json b/data/episode_097/meta.json index e059cf0f23ad9e2492e61c6b6918650bc747d899..60e47490ce6cac10f421cdc38f6f85a9b236d40c 100644 --- a/data/episode_097/meta.json +++ b/data/episode_097/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 480, - "duration_s": 11.754207372665405, - "fps_actual": 40.83644135088578, + "created": "2026-09-20 10:08:22", + "n_steps": 358, + "duration_s": 9.562875747680664, + "fps_actual": 37.43643747403365, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_097/sim.mp4 b/data/episode_097/sim.mp4 index d0995504bd0f4e0dcc5021841118a90f41245b1f..6bb68be0a27b0ccb8d21467d9de4abdbac072622 100644 --- a/data/episode_097/sim.mp4 +++ b/data/episode_097/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a6fe85c426a6cbace2de8cbeb41b4ab15a3d3e3b9b0502f87d2e74a7b73b743b -size 8103414 +oid sha256:95887121be5253820dc6e2af601413a073ced147ee9884ff10e4cd85e6f4f4c8 +size 6478340 diff --git a/data/episode_098/data.npz b/data/episode_098/data.npz index e5fd9d2eb2b624865d2e27cd346fe1d56c7c0bd4..627a47edf18dd3badfd1c309e49ba5d8d1dc1b2d 100644 --- a/data/episode_098/data.npz +++ b/data/episode_098/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:91f243ca640f339834e90fa9816f4f05ef8a8f97b930d79130e111b67baf29df -size 156366 +oid sha256:d7c5c8656e576961ac8f8e0ddf724bcbb181fb6a9c9efd59cee50e22f78df03b +size 106409 diff --git a/data/episode_098/meta.json b/data/episode_098/meta.json index 6994a8c524cb8ee8878df3a77de421b13af8f14d..30f34d7c911389760ff7c9bdbd47b7fa0786eb36 100644 --- a/data/episode_098/meta.json +++ b/data/episode_098/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 454, - "duration_s": 11.068686246871948, - "fps_actual": 41.016611174456415, + "created": "2026-09-20 10:08:22", + "n_steps": 295, + "duration_s": 7.875108957290649, + "fps_actual": 37.459799172288754, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_098/sim.mp4 b/data/episode_098/sim.mp4 index 0db593fbc8818fb4485b65d5533fbab1cb90de6e..f2735626195c0d42261a06b4addee3853e095fa6 100644 --- a/data/episode_098/sim.mp4 +++ b/data/episode_098/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d11bc1264b632d5fd16580e40052dabd501a76548379469d2de4c0f0df055166 -size 8075961 +oid sha256:46e33c36384c446b039aedcba007836500c8518ea62c529d91d960409b1ca8ce +size 5172781 diff --git a/data/episode_099/data.npz b/data/episode_099/data.npz index 1f425d4284417278f20bc1b9c36ae059e8d9c089..8704cea9ad9d1cd9d2d7587d2feb36a9f5448552 100644 --- a/data/episode_099/data.npz +++ b/data/episode_099/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fd3f3b38de52e5381658dde5229be2c7ca45730d276fedbab85b55cbb205ff13 -size 153717 +oid sha256:e91cd3abc6c6528fc3e4b9a81c6f312dabc8a93f410c9ef3b1835543b216d2e9 +size 107921 diff --git a/data/episode_099/meta.json b/data/episode_099/meta.json index 9388596844aa0803e67fe97e6e33157afb901021..5d52e92671c49409a582fdcb91fe1a5e2f0dd19a 100644 --- a/data/episode_099/meta.json +++ b/data/episode_099/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 443, - "duration_s": 11.1650972366333, - "fps_actual": 39.67721826429711, + "created": "2026-09-20 10:08:22", + "n_steps": 316, + "duration_s": 8.422151327133179, + "fps_actual": 37.5201047482916, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_099/sim.mp4 b/data/episode_099/sim.mp4 index ec8a2b544d9dc5fbccae2421804ef79cc33edc05..1d04982fad88a03bc2da7d23a8028ee7ea1ea87b 100644 --- a/data/episode_099/sim.mp4 +++ b/data/episode_099/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f863f9154ebc3c7e9b40a2bee480c1905470a899357db83b67ac67acdbbd6f8 -size 8136829 +oid sha256:5ab23a93abf95d0109f1b5642ec6601d3c5da64c60bee9cf5f49495cc2308e2f +size 5367921 diff --git a/data/episode_100/data.npz b/data/episode_100/data.npz index 2e8f2945311b34f5bfa360e453f1cf8d250fac95..047f785ec0f0fe9325f19c2189291088a17aa71d 100644 --- a/data/episode_100/data.npz +++ b/data/episode_100/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:151223f09fe91de9195cbbc791656c600958aaa51ca7843efd3c09294a34d7d6 -size 166282 +oid sha256:93bbde437e099fc7c26a7d0fa145c192d7a82aceee9fc3a6a9c5208841bf15fb +size 96962 diff --git a/data/episode_100/meta.json b/data/episode_100/meta.json index 2a4a131a1f38eb9e500dac0b0bd9966ead7f3ec3..2dcb0051d78434521a679da18b8379ff45e0336b 100644 --- a/data/episode_100/meta.json +++ b/data/episode_100/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 494, - "duration_s": 12.635343074798584, - "fps_actual": 39.096682779060565, + "created": "2026-09-20 10:08:22", + "n_steps": 283, + "duration_s": 7.517033338546753, + "fps_actual": 37.647830900097034, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_100/sim.mp4 b/data/episode_100/sim.mp4 index e368346141a2da83cd00dc180d062d99e45cfd5c..69644b4dafadd4149306f62ad2305166c7df858e 100644 --- a/data/episode_100/sim.mp4 +++ b/data/episode_100/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9fb148f1d05023b41497387332875dfbb49abd99141eccafb7bdf8ccd2b26dff -size 8751242 +oid sha256:92584de05db9b0bad8892ada390bbc65dde8b63b46a8792dc5b3245e036fc243 +size 4668140 diff --git a/data/episode_101/data.npz b/data/episode_101/data.npz index bd8bd86bc2c0cf1b923e9103dd453b956ab654d0..542a9b033cf84fd7896a068bb2d81def6ce349ca 100644 --- a/data/episode_101/data.npz +++ b/data/episode_101/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8f73e1778a2695ba8f56be4f8cd50095330827f62f5dd0e88d823c57bd5917f4 -size 155684 +oid sha256:e82b19828bf4c0a7ff648088d5c101dec6da2085e2a49e65dc74b4110a5df0a7 +size 112835 diff --git a/data/episode_101/meta.json b/data/episode_101/meta.json index b270e3d2bb4bcbc52218772c648cd68da48505d1..a75ace65a00c630ece05f1dabb2f87b8f850b8c6 100644 --- a/data/episode_101/meta.json +++ b/data/episode_101/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 452, - "duration_s": 11.608243942260742, - "fps_actual": 38.93784471176194, + "created": "2026-09-20 10:08:22", + "n_steps": 340, + "duration_s": 9.357332944869995, + "fps_actual": 36.33513972444461, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_101/sim.mp4 b/data/episode_101/sim.mp4 index e4d9af147c28ed4ed2b75016566aa7e091a53979..3c2f49dc63df784e753e3c525f1c208b28416c77 100644 --- a/data/episode_101/sim.mp4 +++ b/data/episode_101/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ff07cd39e736ad65fffcda168da66ac8dfa06915b1ae06a262b760905f44185f -size 8257383 +oid sha256:aae6c950df96aed488284921227c16bfddc1db9d899196f3700a97b9be1246be +size 6242927 diff --git a/data/episode_102/data.npz b/data/episode_102/data.npz index 1a4e03af0dc0e422843067f8610becb8da2cf16f..751d6c0363db232f72994ec90a8659d8a7ebc5bc 100644 --- a/data/episode_102/data.npz +++ b/data/episode_102/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1d83ed37e0e1e80b2323ea01ea716fe1b18f436a747f1704561f93fc29b248a2 -size 178958 +oid sha256:d89815ffaef8c61970db7cbaba65f5726cdec6ac9e44e4f26db05c0ad23a39d7 +size 110909 diff --git a/data/episode_102/meta.json b/data/episode_102/meta.json index 7c929318b982f45507dd3db64b6b8eb593a6bbab..bce80c9abf8d3bf4f9ff1cac21cffb3ce36c6d71 100644 --- a/data/episode_102/meta.json +++ b/data/episode_102/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 504, - "duration_s": 12.39918828010559, - "fps_actual": 40.64782214886311, + "created": "2026-09-20 10:08:22", + "n_steps": 320, + "duration_s": 8.477527379989624, + "fps_actual": 37.74685538088957, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_102/sim.mp4 b/data/episode_102/sim.mp4 index fa6772b4d596e3f520f990a56eedaa7a4962b4b1..634c4bf74afc522334e2ffa70f012b08a0274064 100644 --- a/data/episode_102/sim.mp4 +++ b/data/episode_102/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:444bdac3aa9389040f2dcd4a6c119070d42b8ad7b271450f7872f6cc7318ad70 -size 9385758 +oid sha256:f4314572e45030923b5d81dde03cc5b36e0686b3126e83f22a0d81dbcc381e62 +size 5614683 diff --git a/data/episode_103/data.npz b/data/episode_103/data.npz index 2cdf8d43f8574de84b3e6309af7fc92c7679539c..8f4723a847bb5e52d9d5aaaed73319396baf8aa2 100644 --- a/data/episode_103/data.npz +++ b/data/episode_103/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:89fcf372ed73abc63bcc5296d5d709aacd77469d5d4eb472cc716525e12e5be0 -size 115592 +oid sha256:9c68a1cebac450b2444d0e416cc364c800794097b066295e55eaa65aed5d78b9 +size 110150 diff --git a/data/episode_103/meta.json b/data/episode_103/meta.json index 48a64441110ef3e0a1a077470c1a166730f5629f..8fdd730eed3649bfd9a82bf7c22b6b8edba0c431 100644 --- a/data/episode_103/meta.json +++ b/data/episode_103/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 333, - "duration_s": 8.301701068878174, - "fps_actual": 40.11226099773296, + "created": "2026-09-20 10:08:22", + "n_steps": 317, + "duration_s": 8.406800508499146, + "fps_actual": 37.707567781526144, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_103/sim.mp4 b/data/episode_103/sim.mp4 index 95fa037e178018a8c411222ffefdd7fe4e1021a2..711ae0b0d881de70f5bfa7925c03626d8e5a8c07 100644 --- a/data/episode_103/sim.mp4 +++ b/data/episode_103/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:74c1f78e3eb288f09dcc9535b86f57def97a235812d19cac53b28fb182f3dc6f -size 6255674 +oid sha256:e588f64898116de0a53ba7b70a79260e60a918da0cc4ffee5ae540d45b5cc257 +size 5350330 diff --git a/data/episode_104/data.npz b/data/episode_104/data.npz index 59c590164a8a7516258a77d3e90132549ffd8faf..07ba268b107d13f70263ed79dd3a0aeb07377b2d 100644 --- a/data/episode_104/data.npz +++ b/data/episode_104/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:14b7aa1cfaf0a7697b09bceb87bb22ecaab7d4806f2eb6bf2c66f0f5b7621ee2 -size 152425 +oid sha256:4bf1041141f9946fc4139450e2a5efdf5d461c7ff6390005ae8e30776dfbe863 +size 90432 diff --git a/data/episode_104/meta.json b/data/episode_104/meta.json index bd524b50162043d9cba3c3902a0b8f854b3f0576..7597454724c73fd73f4ffb98180541930910a07c 100644 --- a/data/episode_104/meta.json +++ b/data/episode_104/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 430, - "duration_s": 10.76954960823059, - "fps_actual": 39.9273893191758, + "created": "2026-09-20 10:08:22", + "n_steps": 262, + "duration_s": 6.951193809509277, + "fps_actual": 37.69136743699799, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_104/sim.mp4 b/data/episode_104/sim.mp4 index 4545e2f1a71d01c6698b142d9951734fc6296056..6008ee4f66bbe5450448b543ef9f44e30400b616 100644 --- a/data/episode_104/sim.mp4 +++ b/data/episode_104/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:61ec3cd6fe2b945ad842730767df4341a8f669933dc38f6e5ad5355146584fad -size 8089053 +oid sha256:cb9aaa829aa3684558ae69edca9ed2f1592429d3eda56beca94db4917b6431da +size 4432503 diff --git a/data/episode_105/data.npz b/data/episode_105/data.npz index d9cbae8804a1f73e9cfec9b69f22f36606004e19..1fc28d64ddde2117591c29d9a26103b6ef54b4ac 100644 --- a/data/episode_105/data.npz +++ b/data/episode_105/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d3ffea59962c7666406e3ba723a9eb62ecf17fc7aabc26536b025c0d75fb2481 -size 119507 +oid sha256:c7e3c9756ea26678eb3c2e45d6f5b2cb38b91b1a9131d463f4a1adfe513a7cde +size 136148 diff --git a/data/episode_105/meta.json b/data/episode_105/meta.json index d851824e3a58a81293f492f7adb4b30412e323f1..5ba6e09592f3a8faffc6328ad54e2af2b0e1be36 100644 --- a/data/episode_105/meta.json +++ b/data/episode_105/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 340, - "duration_s": 8.202253341674805, - "fps_actual": 41.4520237106668, + "created": "2026-09-20 10:08:22", + "n_steps": 400, + "duration_s": 10.554504632949829, + "fps_actual": 37.89851005903684, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_105/sim.mp4 b/data/episode_105/sim.mp4 index fe3111c07d0fbc62482421ec15660f7402cfd643..737ee2a29e86f152a57d6950326accd760f017b3 100644 --- a/data/episode_105/sim.mp4 +++ b/data/episode_105/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:850ddd22c65fafe3c15208c5b1250916907ac9d5280b3bd364fe70addfdcf42d -size 6149837 +oid sha256:4ad895f173b81c9b4a5714a12121b61adc029c0adc260fba6ff6d6fbcaf46ae8 +size 6619577 diff --git a/data/episode_106/data.npz b/data/episode_106/data.npz index 2314e58147623f951a830b830c364c36d1472fbb..e242e7e8991f22b853886abf0777ac8b0df41f88 100644 --- a/data/episode_106/data.npz +++ b/data/episode_106/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cc078fe01ca7a7ffa7bca3229db6b21347984c6c89a7953e27a1c145379e93a0 -size 197811 +oid sha256:89a74ac4536aef94d3522bce98fd39b8517a563c0afffc1faed0b9d87217fe79 +size 112902 diff --git a/data/episode_106/meta.json b/data/episode_106/meta.json index 5329e41898bd59cba789e67a93efd6468a5d6e73..1da99449cc1fb521fb4006839d9316eb3dd56fe9 100644 --- a/data/episode_106/meta.json +++ b/data/episode_106/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 578, - "duration_s": 15.383840322494507, - "fps_actual": 37.57189283581154, + "created": "2026-09-20 10:08:22", + "n_steps": 337, + "duration_s": 9.258773565292358, + "fps_actual": 36.39790925045252, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_106/sim.mp4 b/data/episode_106/sim.mp4 index da308296bbf944a54645de13416cd670a4164f6f..69f97a0cc8577bfaf10b1908e5aa031c84d43172 100644 --- a/data/episode_106/sim.mp4 +++ b/data/episode_106/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:05b496d08b8ab2f05faf21dc19c7364f03fef5c06ea0efb632331df4b05c45b0 -size 10391012 +oid sha256:245b1aaff3b126a108e5f698b34d47387e7d0dc37db7afaf33f18d28a7583af0 +size 5531341 diff --git a/data/episode_107/data.npz b/data/episode_107/data.npz index 2414341163e8a95c96057a354baa387ce7c5e2c1..bead4a9298d1eeb7c77ecfc8c7a268b92f3d1a37 100644 --- a/data/episode_107/data.npz +++ b/data/episode_107/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c8c7aaa35ade0970edd411aba32ae706d737ec20c6e3311a0bdf2d1778fcc612 -size 143174 +oid sha256:44bb975bfb13f31b3051660092755d9be2a19c54600d69690ee1fb34029f5702 +size 111216 diff --git a/data/episode_107/meta.json b/data/episode_107/meta.json index 2d9cfd02d28ec57cfd466694f9b943a3ea7fd2fe..eaaa4bea16d3069cc514f1d74284ae0e95754110 100644 --- a/data/episode_107/meta.json +++ b/data/episode_107/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 410, - "duration_s": 10.575817584991455, - "fps_actual": 38.76768833284782, + "created": "2026-09-20 10:08:22", + "n_steps": 325, + "duration_s": 8.630629539489746, + "fps_actual": 37.65658096120928, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_107/sim.mp4 b/data/episode_107/sim.mp4 index 6f1b25d891bce6f27eec48333cdd20aaa9c9d262..1a02580912570ad14e9cbc9d029575b02c85bbdc 100644 --- a/data/episode_107/sim.mp4 +++ b/data/episode_107/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6b98239a54cc6af2206709f8be5918fa6b4b7486280ce6f11ebda4c8e2d1d77c -size 7242615 +oid sha256:5602ccc40a7e039391ff2180fb35312475b7e35a5e41e61146c1e112ff74dd58 +size 5603917 diff --git a/data/episode_108/data.npz b/data/episode_108/data.npz index d13fef02c96523390fa9c8cecd8909beafe5872c..4cc4b95bb32256cc582d4ad2c00603f5f2c80087 100644 --- a/data/episode_108/data.npz +++ b/data/episode_108/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b3fe4af6f3795824d3ef6993c22f8d4ba268e99be4ac106d6c5dd96ec453a7cd -size 155064 +oid sha256:8a3eebbe78e36fcc74d64f342fbe93d1c18526aec7a4c8958ec24b018656807b +size 99701 diff --git a/data/episode_108/meta.json b/data/episode_108/meta.json index a685af4d64755d02c8a5e99aa515f5a20234dc36..513778580a082feb21adb2acd43adfe5daea393b 100644 --- a/data/episode_108/meta.json +++ b/data/episode_108/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 445, - "duration_s": 11.020048141479492, - "fps_actual": 40.38094882045195, + "created": "2026-09-20 10:08:22", + "n_steps": 289, + "duration_s": 7.973185300827026, + "fps_actual": 36.246492348550234, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_108/sim.mp4 b/data/episode_108/sim.mp4 index 0ef43155b73291a67d658127713d5c54459156ef..30b7aad07b1b69f1e37ae49317c6931b2d0327d4 100644 --- a/data/episode_108/sim.mp4 +++ b/data/episode_108/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:93a279b743c1e6a28d39ca0da4ede5aa5bba9c70d5627cbb7d84edcaa32d5c9a -size 7884048 +oid sha256:c7fd259debf24568d2b951490fb506a6f9cb99196fc2528197f2cee259bb610c +size 4869869 diff --git a/data/episode_109/data.npz b/data/episode_109/data.npz index 43c482550cffc5b1583ca3b9a09d99557a1f6ff8..e88678a7c20721261f17d15e597a4c5b82aef9d0 100644 --- a/data/episode_109/data.npz +++ b/data/episode_109/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9e5d0480a94c740c2c5d8f0eda0e43cea7ee6a241b7a20191aff7660fa5364b9 -size 122195 +oid sha256:02166bdf63b816c6c782bba17c5d69e6ac6f3e5bdd581990d26c605e2585fef0 +size 97566 diff --git a/data/episode_109/meta.json b/data/episode_109/meta.json index 018366d21a44f5b20663f7b0dc1ed7a865a799e6..a4be523db86cf3ef1f9700ecffaf69e2c49a416e 100644 --- a/data/episode_109/meta.json +++ b/data/episode_109/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 342, - "duration_s": 8.802636623382568, - "fps_actual": 38.851995672698855, + "created": "2026-09-20 10:08:22", + "n_steps": 279, + "duration_s": 7.340805768966675, + "fps_actual": 38.00672688814014, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_109/sim.mp4 b/data/episode_109/sim.mp4 index 9ab99bebb9351448a627576ef164fd6273bbdb59..5745bbff9a96feb6c83bd73f1e7e13baa9fc3d2f 100644 --- a/data/episode_109/sim.mp4 +++ b/data/episode_109/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:70fcce253e8e955e49cd19e07a384bb01b00abf47d8a3f443f29d0b352003929 -size 6425180 +oid sha256:23dcefe9493cc9827e91cb48654ca86410d1da691c226b273087801e80890170 +size 5011738 diff --git a/data/episode_110/data.npz b/data/episode_110/data.npz index 88be60fddb1ba709583099af181bd9a9b1b5f30c..117ea75da279bbec425dca9eb41e90969286d5d8 100644 --- a/data/episode_110/data.npz +++ b/data/episode_110/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f2259e2c2c0834d05109277043c5252c5bfb5d674238fabd5fb17ab27404eaea -size 129585 +oid sha256:c6a541e2f77d8ac1241820e8c3b0292a38fcd5454bc93638ba3bab10de845ebd +size 113873 diff --git a/data/episode_110/meta.json b/data/episode_110/meta.json index 4a84bbac25cb2ddbb38f88aedacde03535cdcae7..d1746beb8b08535634ba6ca703a162a17ef1d190 100644 --- a/data/episode_110/meta.json +++ b/data/episode_110/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:55:12", - "n_steps": 380, - "duration_s": 9.885634422302246, - "fps_actual": 38.43961689931707, + "created": "2026-09-20 10:08:22", + "n_steps": 327, + "duration_s": 8.655285835266113, + "fps_actual": 37.78038140203675, "fields": { "t": [], "q": [ @@ -81,23 +87,7 @@ 4 ], "gripper": [], - "pinch_raw": [], - "pinch_analog": [], - "pinch_seen": [], - "hand_pos": [ - 3 - ], - "hand_quat": [ - 4 - ], - "n_tags": [], - "reproj_px": [], - "ambiguity": [], "ik_pos_err": [], - "ik_rot_err": [], - "engaged": [], - "tracked": [] - }, - "tracked_frac": 1.0, - "engaged_frac": 1.0 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_110/sim.mp4 b/data/episode_110/sim.mp4 index 1ae5ee0ea0b1ee3a56db75646a0478bb31ab8353..ac7fa5fddcca8c454d844147450cb258dee8fe99 100644 --- a/data/episode_110/sim.mp4 +++ b/data/episode_110/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1b2ea0ff810ea7c5eafbf62076b07d34de73731b78653f6905e8d1ce186faeaa -size 6374352 +oid sha256:48ce6963884c7c2a1afbc0eef75c374acd774047d25a29f6f8c8dcc90edcb17f +size 5778910