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+    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": 13.006568670272827,
-  "fps_actual": 36.90442976686575,
+  "created": "2026-09-20 13:18:46",
+  "n_steps": 284,
+  "duration_s": 7.616867542266846,
+  "fps_actual": 37.28566873771303,
   "fields": {
     "t": [],
     "q": [
@@ -81,23 +87,7 @@
       4
     ],
     "gripper": [],
-    "pinch_raw": [],
-    "pinch_analog": [],
-    "pinch_seen": [],
-    "hand_pos": [
-      3
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-    "hand_quat": [
-      4
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-    "n_tags": [],
-    "reproj_px": [],
-    "ambiguity": [],
     "ik_pos_err": [],
-    "ik_rot_err": [],
-    "engaged": [],
-    "tracked": []
-  },
-  "tracked_frac": 1.0,
-  "engaged_frac": 1.0
-}
+    "ik_rot_err": []
+  }
+}

data/episode_126/sim.mp4

@@ -1,3 +1,3 @@
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-oid sha256:f42097862c938d3fe84309306c439bad6fc18953a4e33beb64ced04be9476b7f
-size 8403000
+oid sha256:921793c608f7c1991a60020cc8f3bec9e0dd33962ebba4fbc2ccb6d6a7b315b7
+size 4595741

data/episode_127/data.npz

@@ -1,3 +1,3 @@
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-oid sha256:55a179882746723c568c80161b67b4957ca398eb67a16ffee487dea4f857e280
-size 146964
+oid sha256:8bd372c538d10ee8432fc264d365a7be0a84d2e165fb2fed0d67dbb33e0a1395
+size 120973

data/episode_127/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": [
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+    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)"
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-  "created": "2026-09-19 17:55:12",
-  "n_steps": 426,
-  "duration_s": 11.141352891921997,
-  "fps_actual": 38.23593096210694,
+  "created": "2026-09-20 13:18:46",
+  "n_steps": 358,
+  "duration_s": 9.681399583816528,
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   "fields": {
     "t": [],
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@@ -81,23 +87,7 @@
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-    "engaged": [],
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-  "tracked_frac": 1.0,
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-}
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+}