Hugging Face's logo

Datasets:
ZebTaylor
/
robot-arm-learning-data

Modalities:
Tabular
Text
Video
Size:
< 1K
Dataset card Data Studio Files
xet
 Community
1
Zeb Taylor commited on
Commit
3e9228e
·
verified ·
1 Parent(s): e36afea

Upload folder using huggingface_hub (part 2)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. data/episode_083/meta.json +103 -0
  2. data/episode_083/sim.mp4 +3 -0
  3. data/episode_084/data.npz +3 -0
  4. data/episode_084/meta.json +103 -0
  5. data/episode_084/sim.mp4 +3 -0
  6. data/episode_085/data.npz +3 -0
  7. data/episode_085/meta.json +103 -0
  8. data/episode_085/sim.mp4 +3 -0
  9. data/episode_086/data.npz +3 -0
  10. data/episode_086/meta.json +103 -0
  11. data/episode_086/sim.mp4 +3 -0
  12. data/episode_087/data.npz +3 -0
  13. data/episode_087/meta.json +103 -0
  14. data/episode_087/sim.mp4 +3 -0
  15. data/episode_088/data.npz +3 -0
  16. data/episode_088/meta.json +103 -0
  17. data/episode_088/sim.mp4 +3 -0
  18. data/episode_089/data.npz +3 -0
  19. data/episode_089/meta.json +103 -0
  20. data/episode_089/sim.mp4 +3 -0
  21. data/episode_090/data.npz +3 -0
  22. data/episode_090/meta.json +103 -0
  23. data/episode_090/sim.mp4 +3 -0
  24. data/episode_091/data.npz +3 -0
  25. data/episode_091/meta.json +103 -0
  26. data/episode_091/sim.mp4 +3 -0
  27. data/episode_092/data.npz +3 -0
  28. data/episode_092/meta.json +103 -0
  29. data/episode_092/sim.mp4 +3 -0
  30. data/episode_093/data.npz +3 -0
  31. data/episode_093/meta.json +103 -0
  32. data/episode_093/sim.mp4 +3 -0
  33. data/episode_094/data.npz +3 -0
  34. data/episode_094/meta.json +103 -0
  35. data/episode_094/sim.mp4 +3 -0
  36. data/episode_095/data.npz +3 -0
  37. data/episode_095/meta.json +103 -0
  38. data/episode_095/sim.mp4 +3 -0
  39. data/episode_096/data.npz +3 -0
  40. data/episode_096/meta.json +103 -0
  41. data/episode_096/sim.mp4 +3 -0
  42. data/episode_097/data.npz +3 -0
  43. data/episode_097/meta.json +103 -0
  44. data/episode_097/sim.mp4 +3 -0
  45. data/episode_098/data.npz +3 -0
  46. data/episode_098/meta.json +103 -0
  47. data/episode_098/sim.mp4 +3 -0
  48. data/episode_099/data.npz +3 -0
  49. data/episode_099/meta.json +103 -0
  50. data/episode_099/sim.mp4 +3 -0
data/episode_083/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:09:06",
49
+ "n_steps": 461,
50
+ "duration_s": 11.465046644210815,
51
+ "fps_actual": 40.209169164852746,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_083/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f014363e819a5cfcbd451181ddf690fd1f81ba01dd5a1862cd89a4f04d35fd87
3
+ size 8440328
data/episode_084/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6da20f9b06478258cb797ff96108ab495a0cf0f47762fef544b7d79e9cee4f67
3
+ size 191387
data/episode_084/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:09:06",
49
+ "n_steps": 558,
50
+ "duration_s": 14.130701303482056,
51
+ "fps_actual": 39.48848595805354,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_084/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d94016183e51fcc58f81c9886a40a32a29bf38644a91407513e104ef27a5ba46
3
+ size 9823107
data/episode_085/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:febfbacb0a9c20e059a9cc38eb0cc60329a92f45b512332f693f0038c9356ded
3
+ size 179419
data/episode_085/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:09:06",
49
+ "n_steps": 512,
50
+ "duration_s": 12.9736807346344,
51
+ "fps_actual": 39.46451361587543,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_085/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e878b8659dc073cf31aa509c5a421198d1395bf70057ad2f7bc1137266dfb53b
3
+ size 9298194
data/episode_086/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:be5deabf68d560a4b542afe380549f42968ffe8e2b10d71463ecd2fe7d6d8b06
3
+ size 243670
data/episode_086/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:09:06",
49
+ "n_steps": 707,
50
+ "duration_s": 17.32855248451233,
51
+ "fps_actual": 40.79971484241933,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_086/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22053941986d70f0168ce4f5458c49015f97652a668d6824094f9d357bd694ed
3
+ size 12222803
data/episode_087/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:25f42efc2e5b6587e1f50afff7e8df06470403c9937faa807f45a5b834d2024f
3
+ size 164423
data/episode_087/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:09:06",
49
+ "n_steps": 469,
50
+ "duration_s": 11.530797719955444,
51
+ "fps_actual": 40.673682028810425,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_087/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0539c0cd5a092ad931cb613737211a0a34a84f2807d27cfb69f3455f113ce1b1
3
+ size 8694947
data/episode_088/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7c3c3b1db4bc97cce1feced7fed50cade8ce1ae1ea7b2246bd03eef24080c54
3
+ size 135549
data/episode_088/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:09:06",
49
+ "n_steps": 385,
50
+ "duration_s": 9.634979486465454,
51
+ "fps_actual": 39.95856976559432,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_088/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a9c3be859f5dd9d89f8bd66eb39dcf39828a2fce2075ccc0c4c21c127d769db
3
+ size 6979868
data/episode_089/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4ad3ea379e2ac35afcab11437c9b57f30b29af2b98c44ff2f0ced8de97b7b654
3
+ size 167750
data/episode_089/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 494,
50
+ "duration_s": 12.50534439086914,
51
+ "fps_actual": 39.503110395000185,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_089/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75d057f5a8a131dfb2fb91a0e9de123d173bf660ab0a08557bfc98bd5b0a685b
3
+ size 8886364
data/episode_090/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0ac79dec04a36be7e40d44b28470c121c835fe7c679a3b9606fddb23e370984f
3
+ size 139446
data/episode_090/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 417,
50
+ "duration_s": 10.587337493896484,
51
+ "fps_actual": 39.38667301768714,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_090/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb7ea524a9b2f5d8b6c3988f7b5cab5dcf1f7c6b369d0a41b61c34bf0dc2554f
3
+ size 7413511
data/episode_091/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f05bc22ba10420188eb9f4b3eaf2ae9fde699b1af28fb4040189a81aa64806fc
3
+ size 163435
data/episode_091/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 485,
50
+ "duration_s": 12.105732917785645,
51
+ "fps_actual": 40.06366267072041,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_091/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:87eecbd16d0e2787994a76d833824e7b0703a5ecbe5b3f613465f7ebecd82e97
3
+ size 8226242
data/episode_092/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:800801a8556f2060c6131fa80d1985997c6548a7b66f03282d2131df98d235cf
3
+ size 147944
data/episode_092/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 431,
50
+ "duration_s": 10.476724863052368,
51
+ "fps_actual": 41.138810614372595,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_092/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d7448a9f24362d0999eec2ccc87cd83908181dd33d13514abf81f92a3977909
3
+ size 7714060
data/episode_093/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f2b131a77b2095ec5162888292bb7025fb50193163ade2d23d02621b3c066298
3
+ size 136979
data/episode_093/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 397,
50
+ "duration_s": 10.205232620239258,
51
+ "fps_actual": 38.901612023292856,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_093/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff9b360d267bac6eb3d6a773feff0ab1e35c03c2848877a35353b481152c6129
3
+ size 7044525
data/episode_094/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bbc84e445573541ceef2ea0703ac25096d441c0df0db52b44274909e8f8d0e56
3
+ size 152075
data/episode_094/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 437,
50
+ "duration_s": 10.852540016174316,
51
+ "fps_actual": 40.267071058821955,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_094/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1c075a8bbab4951f53c0197da11cbc219d73b34c64ee6272e932cef63abd988
3
+ size 8086288
data/episode_095/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6a94ecbd33c0666137c5d0afa758f1ca7304437c2ea4eeabefb4363b2a72497
3
+ size 132628
data/episode_095/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 384,
50
+ "duration_s": 9.556656837463379,
51
+ "fps_actual": 40.18141558611463,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_095/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5aab2f47e302850dfb00abe5048f364b6b57576dbefe1f0e72406f894f8e2718
3
+ size 7023796
data/episode_096/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:45fc4fcd82408763c1062b91591cc64cb35d478b49d3bc7a625f50181169e222
3
+ size 182055
data/episode_096/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 519,
50
+ "duration_s": 12.977537870407104,
51
+ "fps_actual": 39.992177652086404,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_096/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6be4b991cc4cbe139c7eab110eb86cb40866938dfe1fdf643ed84e0a81627dc8
3
+ size 9851629
data/episode_097/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:896e965061a423f68860fd6b3873f4419e06cafe2ea3389685c796b42d89bcbb
3
+ size 161881
data/episode_097/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 480,
50
+ "duration_s": 11.754207372665405,
51
+ "fps_actual": 40.83644135088578,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_097/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6fe85c426a6cbace2de8cbeb41b4ab15a3d3e3b9b0502f87d2e74a7b73b743b
3
+ size 8103414
data/episode_098/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:91f243ca640f339834e90fa9816f4f05ef8a8f97b930d79130e111b67baf29df
3
+ size 156366
data/episode_098/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 454,
50
+ "duration_s": 11.068686246871948,
51
+ "fps_actual": 41.016611174456415,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_098/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d11bc1264b632d5fd16580e40052dabd501a76548379469d2de4c0f0df055166
3
+ size 8075961
data/episode_099/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fd3f3b38de52e5381658dde5229be2c7ca45730d276fedbab85b55cbb205ff13
3
+ size 153717
data/episode_099/meta.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper",
3
+ "scene": "sim/panthera/scene.xml",
4
+ "map_mode": "keyboard",
5
+ "track_rotation": true,
6
+ "pinch": false,
7
+ "recording": {
8
+ "trigger": "keyboard_or_mouse_motion",
9
+ "max_duration_s": 60.0
10
+ },
11
+ "speed_m_s": 0.18,
12
+ "rot_speed_rad_s": 1.2,
13
+ "look_mode": "minecraft",
14
+ "look_sens_deg_px": 0.15,
15
+ "yaw_limit_deg": 59.99999999999999,
16
+ "arm_joints": [
17
+ "joint1",
18
+ "joint2",
19
+ "joint3",
20
+ "joint4",
21
+ "joint5",
22
+ "joint6"
23
+ ],
24
+ "gripper_open_m": 0.04,
25
+ "objects": [
26
+ "cube_red",
27
+ "cube_green",
28
+ "cube_blue"
29
+ ],
30
+ "region": [
31
+ [
32
+ 0.1,
33
+ -0.4,
34
+ 0.01
35
+ ],
36
+ [
37
+ 0.7,
38
+ 0.4,
39
+ 0.55
40
+ ]
41
+ ],
42
+ "view": "grid",
43
+ "frames": {
44
+ "hand_pos/hand_quat": "unused (keyboard mode): NaN",
45
+ "ee_*/target_*": "robot base frame",
46
+ "quat": "(w, x, y, z)"
47
+ },
48
+ "created": "2026-09-19 17:55:12",
49
+ "n_steps": 443,
50
+ "duration_s": 11.1650972366333,
51
+ "fps_actual": 39.67721826429711,
52
+ "fields": {
53
+ "t": [],
54
+ "q": [
55
+ 6
56
+ ],
57
+ "dq": [
58
+ 6
59
+ ],
60
+ "ctrl": [
61
+ 7
62
+ ],
63
+ "ee_pos": [
64
+ 3
65
+ ],
66
+ "ee_quat": [
67
+ 4
68
+ ],
69
+ "obj_pos": [
70
+ 3,
71
+ 3
72
+ ],
73
+ "obj_quat": [
74
+ 3,
75
+ 4
76
+ ],
77
+ "target_pos": [
78
+ 3
79
+ ],
80
+ "target_quat": [
81
+ 4
82
+ ],
83
+ "gripper": [],
84
+ "pinch_raw": [],
85
+ "pinch_analog": [],
86
+ "pinch_seen": [],
87
+ "hand_pos": [
88
+ 3
89
+ ],
90
+ "hand_quat": [
91
+ 4
92
+ ],
93
+ "n_tags": [],
94
+ "reproj_px": [],
95
+ "ambiguity": [],
96
+ "ik_pos_err": [],
97
+ "ik_rot_err": [],
98
+ "engaged": [],
99
+ "tracked": []
100
+ },
101
+ "tracked_frac": 1.0,
102
+ "engaged_frac": 1.0
103
+ }
data/episode_099/sim.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5f863f9154ebc3c7e9b40a2bee480c1905470a899357db83b67ac67acdbbd6f8
3
+ size 8136829