diff --git a/data/episode_111/data.npz b/data/episode_111/data.npz index 01c62331108ca596d918ab8a3099cf8d3209d201..b86b495bb88f7e3e7f1e2de687c5adb3d5789c83 100644 --- a/data/episode_111/data.npz +++ b/data/episode_111/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d303185849230daddef03eab554593237ca219684bcfe53156a93d0190aa9a59 -size 127480 +oid sha256:df161c1aaa4a578d9ae70b008f1e7164e9bdba7a7ad1273c36ded6fdd463f1fd +size 122393 diff --git a/data/episode_111/meta.json b/data/episode_111/meta.json index e4d48513c7302677b6690b3dd7716c976f6a9c60..d6314625d6fa51fa731b043672c79c8010f5c68b 100644 --- a/data/episode_111/meta.json +++ b/data/episode_111/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": 366, - "duration_s": 9.343661069869995, - "fps_actual": 39.170941375455136, + "created": "2026-09-20 13:18:46", + "n_steps": 354, + "duration_s": 9.35815167427063, + "fps_actual": 37.82798273865235, "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_111/sim.mp4 b/data/episode_111/sim.mp4 index 77bf65617ff126b0ff55dc2ab2779ed05e4f5706..7b522fbbe20b125904c481c75a6433fffca27dda 100644 --- a/data/episode_111/sim.mp4 +++ b/data/episode_111/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cf3c25c9cba894b2c9d9b8e797364771378abd31d8b4fb3003d8e2b47d4c8f40 -size 6675140 +oid sha256:3be32e606ad138d3f64625ea71e932c4b6b9c16beaada1cb3d34740c942654e0 +size 6231874 diff --git a/data/episode_112/data.npz b/data/episode_112/data.npz index bfd4f2313df4c1f7915e2debf86a13b9b5f34793..8fa58f85748b79540629d084d05ebaa0e14764c7 100644 --- a/data/episode_112/data.npz +++ b/data/episode_112/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c4c3b4b2e074bf318d584b7ef6d8f05095285f5a56b11a87f0da265ec4ad6937 -size 197762 +oid sha256:a70d580929ab2e5c304a78b199ddfa3ee27c6b6705226a2a0c71bd5fe8a4d153 +size 103028 diff --git a/data/episode_112/meta.json b/data/episode_112/meta.json index 73cbb3aadd2d911fbc9f465e505f42c78b916097..91811cff18c2bac39fe50532f7d5bcd1ac235d68 100644 --- a/data/episode_112/meta.json +++ b/data/episode_112/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": 586, - "duration_s": 15.007830381393433, - "fps_actual": 39.04628351387269, + "created": "2026-09-20 13:18:46", + "n_steps": 294, + "duration_s": 7.825862407684326, + "fps_actual": 37.567744573597054, "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_112/sim.mp4 b/data/episode_112/sim.mp4 index bb5a0997a9ad786fd3edbeff51c23d5d84879625..a565d7b4cc7021a471f12783c5cf79d1f3104515 100644 --- a/data/episode_112/sim.mp4 +++ b/data/episode_112/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cb828175fd58816046683666c2714cf45f50f43b75ca59d42497002a7390abc1 -size 10154300 +oid sha256:b31239ae2c4a5aa3e7f7b2ace7e19876965f5025fa9a787e35579ca82c78fba9 +size 5444888 diff --git a/data/episode_113/data.npz b/data/episode_113/data.npz index 67044fd8ed3836ba39262224676f941df5977cbe..0d86bd4fb053de88421c8a9b9d634b2eed7cee46 100644 --- a/data/episode_113/data.npz +++ b/data/episode_113/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:93376c12cb0ddb83092a3e7acc0ae0380313f8838246d0108c6c2e1a58985f9f -size 137111 +oid sha256:1908ff602e59b8509f6d3f6e745a45d71f8a763ee62edbe89e8e52a63d48abf7 +size 104303 diff --git a/data/episode_113/meta.json b/data/episode_113/meta.json index bb5a4f5eaeed9890206c53c8faace2ae26dfb7a4..e2f6dd4d2c2738707658fbd4a751210b6365325a 100644 --- a/data/episode_113/meta.json +++ b/data/episode_113/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": 402, - "duration_s": 9.73838472366333, - "fps_actual": 41.27994646003038, + "created": "2026-09-20 13:18:46", + "n_steps": 297, + "duration_s": 7.919225454330444, + "fps_actual": 37.50366771507843, "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_113/sim.mp4 b/data/episode_113/sim.mp4 index 9d715c76584b0f8e4d193dc49d158927efe82c50..8049062b0ad79dd8edd7046a5d33a7e005f4c846 100644 --- a/data/episode_113/sim.mp4 +++ b/data/episode_113/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d8fccca80e842103fe0cbf4e72c689258cb07924e81717826af5417e16bfc6e6 -size 7220442 +oid sha256:bf04f932b9caf7e81f57d56cd5d4532a5597087b3cdf3df5c548d509a8108fe3 +size 5103852 diff --git a/data/episode_114/data.npz b/data/episode_114/data.npz index ee369816583d28519f11156a3b5a226972c6d6cd..12588c7b02c4a3929d86b716ebfa0fde9856aa67 100644 --- a/data/episode_114/data.npz +++ b/data/episode_114/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:daf48dfaf38a57ab401da14c33b91f288271cd6b6ebc63e8e32fc12430003041 -size 146371 +oid sha256:151f4629320e0a732762f56a968a7f2f62d0ee0db6f763ef3ebc8e0ed9bb062d +size 134825 diff --git a/data/episode_114/meta.json b/data/episode_114/meta.json index 6449b19f57c00308539f7336cbf646729ceabaf2..b16dc674b287b75571eb71dcf1af03e3b7903d1b 100644 --- a/data/episode_114/meta.json +++ b/data/episode_114/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": 421, - "duration_s": 10.67370057106018, - "fps_actual": 39.44274033145222, + "created": "2026-09-20 13:18:46", + "n_steps": 394, + "duration_s": 10.656956911087036, + "fps_actual": 36.97115445686934, "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_114/sim.mp4 b/data/episode_114/sim.mp4 index 4a70ab7b61f65398f273fcd97fdf7ad2f7b1e4e0..5625fd8ace0405dd75cb34a030756e4136ad548e 100644 --- a/data/episode_114/sim.mp4 +++ b/data/episode_114/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:38997d2b738e3a8e47aafe64d4ce5da94b4214556f6e091353c6ac606933cd57 -size 7822089 +oid sha256:6e45f46e839c3b8cf25a8c8f5d75f1fe3a301ceef9ebc6b0de240792d3fe13e1 +size 6710828 diff --git a/data/episode_115/data.npz b/data/episode_115/data.npz index 766b9a2066702cd97c7ab8464f58de911c248553..1cdea90ce8e7d86e439946324ea00815e1a5f343 100644 --- a/data/episode_115/data.npz +++ b/data/episode_115/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:45b73c2665382407e8d890f7841383bdf0feaef0448a19d04e40bee1d0dc4116 -size 124972 +oid sha256:f39f4a41dc140e61cbdc733f794612f73059e4f48de7b8aa683dd8cc5b03a6ce +size 113087 diff --git a/data/episode_115/meta.json b/data/episode_115/meta.json index dfbddab25d7f37946493174387da790f03ce4d87..e0aec3b1557d44ed5809e8477d7dcdd7c0222f4c 100644 --- a/data/episode_115/meta.json +++ b/data/episode_115/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": 351, - "duration_s": 8.895851850509644, - "fps_actual": 39.456592341956686, + "created": "2026-09-20 13:18:46", + "n_steps": 326, + "duration_s": 8.780710220336914, + "fps_actual": 37.12683733087498, "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_115/sim.mp4 b/data/episode_115/sim.mp4 index a145eae5d7876a09e3212e805622b5bb3a53a60a..382c7291be15502e70bd7ec4aa652bdd5eeec586 100644 --- a/data/episode_115/sim.mp4 +++ b/data/episode_115/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e5d50aa5725a5f8760f35027cb1028f320c33b040d0c91679cc50d83586f748a -size 6594182 +oid sha256:42864d1acbedd000d91447dab9e926a111271d6fc3c6957880443311963dad5f +size 5307360 diff --git a/data/episode_116/data.npz b/data/episode_116/data.npz index 86d7be812243e80345c3d53d8ec30e7acb0ec102..0f4de202501fbff607fd93e9abb959006d8a16cf 100644 --- a/data/episode_116/data.npz +++ b/data/episode_116/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5df6210d374ac3be52885cc7d40549150b3dca33230c803a28a7e69902ae0bde -size 170954 +oid sha256:e5b2861ea57742e0a769632a5d2e58d130859214b32f74f529f2f5794dcf2d83 +size 134257 diff --git a/data/episode_116/meta.json b/data/episode_116/meta.json index 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"fps_actual": 37.5498526824215, "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_116/sim.mp4 b/data/episode_116/sim.mp4 index 303c4f2917bd46815dea4acf82e76d86717e79eb..39d124355e01127e9d5f043d53ff97def722d387 100644 --- a/data/episode_116/sim.mp4 +++ b/data/episode_116/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a4f97b10508b960aeda088fb39c1b6e7f53f5801c8b8d5790e3affee1e0a8ea7 -size 8850886 +oid sha256:1003ff19bb1e27f00973485c11cf2e3f4461d5374f5c45244ad83717d77b1c8b +size 6502756 diff --git a/data/episode_117/data.npz b/data/episode_117/data.npz index 779b4deffd0b3c2c28931c608269bded1202b46e..cb407b9921f755b1d0e38599cca3aad5b6aa5eca 100644 --- a/data/episode_117/data.npz +++ b/data/episode_117/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:49d11a72b28897f26e689afba286db00ebfab4143e0ccd08bb8225d8fec7e7d5 -size 167367 +oid sha256:a05888493d581956edee222c5306b89842ec9f900fafc47a79d56b6843e14a0b +size 132826 diff --git a/data/episode_117/meta.json b/data/episode_117/meta.json index 29ac924134ab7301c0caed9aff5ee8edcda71539..8c3d4b10b9a6fbe2bfb3cbc5e14d6f8f42c7329e 100644 --- a/data/episode_117/meta.json +++ b/data/episode_117/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": 486, - "duration_s": 11.955471754074097, - "fps_actual": 40.6508425595489, + "created": "2026-09-20 13:18:46", + "n_steps": 385, + "duration_s": 10.197157382965088, + "fps_actual": 37.75562007537156, "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_117/sim.mp4 b/data/episode_117/sim.mp4 index 672d5d013f49d76f5772fc61e6ff015348535571..07a8e337fc1de6c9b3675777ec5b6336d45f2c7c 100644 --- a/data/episode_117/sim.mp4 +++ b/data/episode_117/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e335aa28ce9457bbedf4b6bdbf2701fefcc046ee755c6fbc48e0e01db334d922 -size 8540342 +oid sha256:7d57375caf8942d822021eff2efedec09550b358ee98797ff8c70426673ed71d +size 6524832 diff --git a/data/episode_118/data.npz b/data/episode_118/data.npz index 12761acc350609bcbe003e439f7bffc8bb876ead..3027bccb2993fb49d86d1b79a382ff25477547b0 100644 --- a/data/episode_118/data.npz +++ b/data/episode_118/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1e82dc71097539272289989344c34a888f947d094b1e76ba1a238f1796a390c8 -size 161400 +oid sha256:2d4e2b3db14b75f0acd60ffdd5c24158c074ec0642b1f7f5d19c3401d356f545 +size 96805 diff --git a/data/episode_118/meta.json b/data/episode_118/meta.json index 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"fps_actual": 37.648483018251085, "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_118/sim.mp4 b/data/episode_118/sim.mp4 index 3681fccccf2b65c0cdf9ba60de2c692f37c2c927..461199ec890becb7d1347f755b8e272e5a6a045b 100644 --- a/data/episode_118/sim.mp4 +++ b/data/episode_118/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e8052317c503c1ee5121db63b61190b501db94b42d9cf6bdd92fef5317c858a9 -size 8949112 +oid sha256:486a2d273d5579e47e17c837df8e9b0860cf60444ae622bc0498319464dbe8e2 +size 4897910 diff --git a/data/episode_119/data.npz b/data/episode_119/data.npz index 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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": 407, - "duration_s": 10.076265096664429, - "fps_actual": 40.39195039982922, + "created": "2026-09-20 13:18:46", + "n_steps": 323, + "duration_s": 8.571562767028809, + "fps_actual": 37.68274336652412, "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_119/sim.mp4 b/data/episode_119/sim.mp4 index cfbc9cce5acea7922da5c61e97f55926cc118bfc..32c0c392a6328473626fd64e99fa6adeaca87ab6 100644 --- a/data/episode_119/sim.mp4 +++ b/data/episode_119/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3076127a98ad1e0964f445fce5ebda860f376325ca6aeb78b316e0252b67bebb -size 7556046 +oid sha256:2b554326f8e277e3a5dccc0ced69055126dd8f37cea115a2d8b42a222537f0c4 +size 5756718 diff --git a/data/episode_120/data.npz b/data/episode_120/data.npz index d35186f60db06ce361a369e8f3b33557d5519d6f..eccf513d542c3fb6f0a08103b7802a29bd7776b9 100644 --- a/data/episode_120/data.npz +++ b/data/episode_120/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:797cc8cb392780995e9aa0f1a7190db128ca2f85e220afaed20c2c62a5ffec19 -size 146726 +oid sha256:89a229250d5e8a2e9c051b28b3fd0796813cc8033364cb04ba0e7c34c3512575 +size 158461 diff --git a/data/episode_120/meta.json b/data/episode_120/meta.json index 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"fps_actual": 36.75681576544696, "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_120/sim.mp4 b/data/episode_120/sim.mp4 index fb2ab13407a8201f8191476d1196f7672c3c171b..91ec9e21f01a4ae445c9e900a3a3ac9647520356 100644 --- a/data/episode_120/sim.mp4 +++ b/data/episode_120/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3d1b4051b167ab60a00d727ad13e11a6d78642abc36d05707c2cd15855674c2a -size 7674456 +oid sha256:b7f7dafb46893935f5e37369bc09b59012df54c59ceccdbde5292e0514a11505 +size 8251590 diff --git a/data/episode_121/data.npz b/data/episode_121/data.npz index 18893e302466d5e601c1e58b14cb271dab4853b5..942e917e2f858b7e1993e74054e865f2587881e7 100644 --- a/data/episode_121/data.npz +++ b/data/episode_121/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:394fcb6992779264bc7375b9731fbee99844e374569801c634013e5618521353 -size 157064 +oid sha256:4cc108279e27e604d3a04b4df9235aac2dcd8152573f867619ede3ddcc05971a +size 114408 diff --git a/data/episode_121/meta.json b/data/episode_121/meta.json index 08338ed6c6db87d9026575e5308c33b4a55d3570..a6a31d1b8c9fb2e039e508d99fa4cb9c000eed43 100644 --- a/data/episode_121/meta.json +++ b/data/episode_121/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": 459, - "duration_s": 11.443491458892822, - "fps_actual": 40.11013611089015, + "created": "2026-09-20 13:18:46", + "n_steps": 329, + "duration_s": 8.6662278175354, + "fps_actual": 37.96346079597579, "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_121/sim.mp4 b/data/episode_121/sim.mp4 index 54e56ce2ea522e09cde744d8c80c91dd9a166cc4..32d295463bd0172bbf00f311e7d84b37e3958cb9 100644 --- a/data/episode_121/sim.mp4 +++ b/data/episode_121/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8704449c6bf49e015f2197af8343653c179f0f05863f29a3a544cc502b8aa2ea -size 8346992 +oid sha256:bd4e8f9d5c962b8389173e764a46f6c5e15624f31eb668db0cdd49e8b008550e +size 5916135 diff --git a/data/episode_122/data.npz b/data/episode_122/data.npz index 78eb64e309291fd06df344a2e14541d8df2c6019..618782c5d34d76fd4b5bf281566040bbb94f8f7f 100644 --- a/data/episode_122/data.npz +++ b/data/episode_122/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:14cf6b86304a97e2a517d1f143e08aed4718a650ddd1df11b0f4ebd1669af23b -size 144184 +oid sha256:b9f957b17d5576b98ebc27d31a49b2b12e50a25de04d450d8c726863eef6cb54 +size 91822 diff --git a/data/episode_122/meta.json b/data/episode_122/meta.json index 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"fps_actual": 37.38651210416479, "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_122/sim.mp4 b/data/episode_122/sim.mp4 index 93b65f041312cced4282eeb64b45b300a9a122a7..91c2fd9af5b1a26ba40f0a10e75815fffd74dd21 100644 --- a/data/episode_122/sim.mp4 +++ b/data/episode_122/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:60e84e2e2f0c0054f8b87a9ffeaa9b0f0487aa1e9c512a70a6c0ab633968a658 -size 7762680 +oid sha256:fe8521e43dc4c8293a83794b44aee55634c535cf4abe936fa4fdee5af0c36a4f +size 4692928 diff --git a/data/episode_123/data.npz b/data/episode_123/data.npz index 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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": 429, - "duration_s": 11.493008375167847, - "fps_actual": 37.32704144955735, + "created": "2026-09-20 13:18:46", + "n_steps": 289, + "duration_s": 7.670915842056274, + "fps_actual": 37.67477129856379, "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_123/sim.mp4 b/data/episode_123/sim.mp4 index 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239bcd0aeb2d1b6ccd8b71b9852edd54f003e247..b23db01d59a6406d4ed526bbe1dce1d2638d7a91 100644 --- a/data/episode_124/meta.json +++ b/data/episode_124/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": 9.724621772766113, - "fps_actual": 39.48739693664954, + "created": "2026-09-20 13:18:46", + "n_steps": 326, + "duration_s": 8.654622077941895, + "fps_actual": 37.66773373396383, "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_124/sim.mp4 b/data/episode_124/sim.mp4 index 24a9323987a849b6e5aa3bf57f6b63b6eb76664d..eb2cc8dc94c4135c776f74cf5847b6353d49c247 100644 --- a/data/episode_124/sim.mp4 +++ b/data/episode_124/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b41ebc7245aa7f5ecdf82fb3d15766d28b209369f8fe34ef62ed6ea6647885bd -size 7185655 +oid sha256:c84b23d12d4d19a19f08709e9d9aca58b6991ac2f8c80677cf3f2964dbf8b3d4 +size 5252602 diff --git a/data/episode_125/data.npz b/data/episode_125/data.npz index 25b6c84ae4866ff0eccfab0acaae7595fbc23eb9..82db479ded0264a3d70f36e0b88e3f8ed8e6d66f 100644 --- a/data/episode_125/data.npz +++ b/data/episode_125/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4a981117442c81def7b2e3f346ddb160ed81fe8245e88a6074a3c860c6a7c44e -size 170728 +oid sha256:5ee9183093c56b61a1ae9d9fdd2ca9f95c8c813aa32dae864b74ea490b70409e +size 117476 diff --git a/data/episode_125/meta.json b/data/episode_125/meta.json index 0aa9ed4174518dae261d2690cd639384aeefe697..31e22a7d8d4231eb14cadd003b98af0348453655 100644 --- a/data/episode_125/meta.json +++ b/data/episode_125/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": 493, - "duration_s": 12.389583826065063, - "fps_actual": 39.79148992582239, + "created": "2026-09-20 13:18:46", + "n_steps": 338, + "duration_s": 9.086028099060059, + "fps_actual": 37.19997300415192, "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_125/sim.mp4 b/data/episode_125/sim.mp4 index 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558298c907facb60f300b488127856c535e3b41a..6eb45732e6321ef507a6399b082b9a3d6bd5d7aa 100644 --- a/data/episode_126/meta.json +++ b/data/episode_126/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": 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 - ], - "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_126/sim.mp4 b/data/episode_126/sim.mp4 index 54cdf27fce227dd02997e205cae0120e79f2e444..4b53a532097e8e257d48bf0551634e446219f3c3 100644 --- a/data/episode_126/sim.mp4 +++ b/data/episode_126/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f42097862c938d3fe84309306c439bad6fc18953a4e33beb64ced04be9476b7f -size 8403000 +oid sha256:921793c608f7c1991a60020cc8f3bec9e0dd33962ebba4fbc2ccb6d6a7b315b7 +size 4595741 diff --git a/data/episode_127/data.npz b/data/episode_127/data.npz index 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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": 426, - "duration_s": 11.141352891921997, - "fps_actual": 38.23593096210694, + "created": "2026-09-20 13:18:46", + "n_steps": 358, + "duration_s": 9.681399583816528, + "fps_actual": 36.97812458835337, "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_127/sim.mp4 b/data/episode_127/sim.mp4 index 952960b813685fae9f506726692083f566692229..ffb0eda6306e7b91e8673dfc39ee4e55c41ac56e 100644 --- a/data/episode_127/sim.mp4 +++ b/data/episode_127/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:63b63a544e1763f0aa37e271e9b770f3a769194961848f9a3ee737e327e16e59 -size 7421180 +oid sha256:e2d0e49de651ecf79f43fb2010070654a78e8b31f097569db6b80a4418fe66c7 +size 6154602 diff --git a/data/episode_128/data.npz b/data/episode_128/data.npz index 82f8bdd26e45a8c42efd0c73994f8a5a8457c67e..8d86b6f5b438c6287508ddab204a7ab5453beb28 100644 --- a/data/episode_128/data.npz +++ b/data/episode_128/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f9959165c9f483a90a7c9674bbccf66eb16a60e128b0c65740dfe192d278011f -size 155755 +oid sha256:6744df47fc881ef79e248b1dc688457a9efbe440d8e59242db949e5bbb797232 +size 150104 diff --git a/data/episode_128/meta.json b/data/episode_128/meta.json index 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"fps_actual": 37.370172315047306, "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_128/sim.mp4 b/data/episode_128/sim.mp4 index f0ddcacf29aef71d62a19f99de67bf91c63c11ad..1e875763f4df8dd3fe61a5b88b9eb61ee6527590 100644 --- a/data/episode_128/sim.mp4 +++ b/data/episode_128/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dacb77349f081fd59d38bc122a9229a94ec3069d30c43ab021d75675b9459930 -size 8200847 +oid sha256:812e64b1d8d28f5cf356b025b06770e7c4353584dae10b60e79057e3f354c5f7 +size 8066315 diff --git a/data/episode_129/data.npz b/data/episode_129/data.npz index 83b2c24b09e1ad0093a97641dc2fc539a7d109a5..57473bc6a72aab19bdadd8cafe179e2fc4e6012a 100644 --- a/data/episode_129/data.npz +++ b/data/episode_129/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fd1da60a0a8f30abaf1f5762ef2d97a09fc5cbfde40ff3e91813de128b6efa69 -size 161080 +oid sha256:8a76dea8d6eadff00e3a0fb7a7a27e55cad311303abc401a72d64d498abeb48a +size 137525 diff --git a/data/episode_129/meta.json b/data/episode_129/meta.json index 1e1c80f2e74cd6f9a1b21327e9c6b6fe823fb734..08007f234cd6d4f97589249e4a61829435e60380 100644 --- a/data/episode_129/meta.json +++ b/data/episode_129/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": 455, - "duration_s": 11.950647592544556, - "fps_actual": 38.07325054784922, + "created": "2026-09-20 13:18:46", + "n_steps": 405, + "duration_s": 10.848978996276855, + "fps_actual": 37.33070182355294, "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_129/sim.mp4 b/data/episode_129/sim.mp4 index 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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": 406, - "duration_s": 10.36305022239685, - "fps_actual": 39.17765438620995, + "created": "2026-09-20 13:18:46", + "n_steps": 415, + "duration_s": 11.395199537277222, + "fps_actual": 36.41884450047642, "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_131/sim.mp4 b/data/episode_131/sim.mp4 index 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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": 440, - "duration_s": 11.398994207382202, - "fps_actual": 38.599896797477776, + "created": "2026-09-20 13:18:46", + "n_steps": 326, + "duration_s": 8.636181116104126, + "fps_actual": 37.74816618795764, "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_133/sim.mp4 b/data/episode_133/sim.mp4 index 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605e4170944c02733e318ff6c0ffbf2106ce3a64..832795ffda07354b2f78cc0b6d7dc7bc9a72ceba 100644 --- a/data/episode_135/data.npz +++ b/data/episode_135/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fd517cd88aa3cae19b28463e471012778fb4c18de254e39e242f511137783a34 -size 265636 +oid sha256:07f54e5c7ccb56c3452961ce766e81752f650ca0df38cff1fc9ce6a2dc84f6b3 +size 117428 diff --git a/data/episode_135/meta.json b/data/episode_135/meta.json index 4260efe7df9c971023ce1148441e80a5d15b3dc6..2c406fd4dc68a740f84fcf3709e04e282f63e86b 100644 --- a/data/episode_135/meta.json +++ b/data/episode_135/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": 775, - "duration_s": 21.22209644317627, - "fps_actual": 36.518541044006646, + "created": "2026-09-20 13:18:46", + "n_steps": 340, + "duration_s": 9.084157943725586, + "fps_actual": 37.42779486070445, "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_135/sim.mp4 b/data/episode_135/sim.mp4 index 18b3ead57cbd391520463173371ad5101afa7905..20fe92bfeb22a87c803351d5603b1f6e3b6de96f 100644 --- a/data/episode_135/sim.mp4 +++ b/data/episode_135/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:134337a3c20ae0afddb2badd9552117cbcca6089f49d82d4cee0c161c2c5c397 -size 13515074 +oid sha256:806da1f972bfd89d3ac5b35c69dbccec47bf28ef4083cdbe53e437331c323438 +size 6381258 diff --git a/data/episode_136/data.npz b/data/episode_136/data.npz index f21615a5ef06e38a4c38e8186614936053de8ccc..2010ffdca6351794b4bc9bf9ec5519252bb48b49 100644 --- a/data/episode_136/data.npz +++ b/data/episode_136/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ef7dbdf6497c7422be4347c86baa1a5ba944690928b7cacd0e3dc96a40aeee87 -size 137396 +oid sha256:b3cf115a374e8ae9058eff305f16a917a3a8b014653fcd7370836b40027aa847 +size 134485 diff --git a/data/episode_136/meta.json b/data/episode_136/meta.json index 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+ "fps_actual": 36.89331463653146, "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_136/sim.mp4 b/data/episode_136/sim.mp4 index 8715a2146ed0fa2401b4f99292bae9fac3c64e54..2896f556d154eec71bb141e46bcff9397f0856bd 100644 --- a/data/episode_136/sim.mp4 +++ b/data/episode_136/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:caeb51eb55594f146c984b6bccebda3c42a60b24ee649db30932a1a5604b284a -size 7278942 +oid sha256:d2a1c326afe1c729b3dc7c1b7130db7ae0889701326a4621df7b41b4ee016c5e +size 7345042 diff --git a/data/episode_137/data.npz b/data/episode_137/data.npz index b6460bc234e7eefa1419fe210037a1b294b69647..6d1a374d1d3b0233bc3995057854103106f3db6e 100644 --- a/data/episode_137/data.npz +++ b/data/episode_137/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:126428ce62eaebc69f91ad279073f3e7e8f13ccf76e7eb8d5ab00c7d518478a2 -size 136106 +oid sha256:ba548a79021280a4f35ca8ac13b31c671f5703e3e5e97bfa5bda1f3a026af042 +size 114290 diff --git a/data/episode_137/meta.json b/data/episode_137/meta.json index 5077416b1506e6618a5e5438eb1e92e4d640abc5..49bb83146aea775bacbc3102b0165d7abd75c00a 100644 --- a/data/episode_137/meta.json +++ b/data/episode_137/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": 383, - "duration_s": 9.773082733154297, - "fps_actual": 39.189272254977155, + "created": "2026-09-20 13:18:46", + "n_steps": 327, + "duration_s": 8.929147720336914, + "fps_actual": 36.62163626828896, "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_137/sim.mp4 b/data/episode_137/sim.mp4 index 2f87a8ac4b881b79530cbc89ab8ce0aa8eb87df3..4c9f0444c83c4df7f8420333796a7c88b9d21ac7 100644 --- a/data/episode_137/sim.mp4 +++ b/data/episode_137/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:24c161fedd55a87defa13434daf03ad2507235a91fe10036304f2d9d7c1248f0 -size 7411528 +oid sha256:5eab055b18074dcd20aeb7fa55c581576856d7c2f9a3dd1acb008af83915b35c +size 6023447 diff --git a/data/episode_138/data.npz b/data/episode_138/data.npz index 8689afe55bd9909655e4aea326a30f91bb1b1255..d982e4023e261b74a8b08569c1b2071f828d39de 100644 --- a/data/episode_138/data.npz +++ b/data/episode_138/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3dff027db8af4720dc89f65872fbae305c231323665ed5ceff4764b395ff6855 -size 150152 +oid sha256:38f58d0c3133cd71f4fce38a3c4180ab26e58cd962bf9ec9a595476f963c5a5d +size 102731 diff --git a/data/episode_138/meta.json b/data/episode_138/meta.json index 1eec15dd353675179262b44e65c3bc1157ea9841..7f3ab51b555e26a2f148c8aebe0bef48ade40852 100644 --- a/data/episode_138/meta.json +++ b/data/episode_138/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": 441, - "duration_s": 11.589975118637085, - "fps_actual": 38.05012482648531, + "created": "2026-09-20 13:18:46", + "n_steps": 292, + "duration_s": 7.792199373245239, + "fps_actual": 37.4733738208228, "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_138/sim.mp4 b/data/episode_138/sim.mp4 index 528fa58a934e57f4d0ced623bb698e663bc3cbce..de47c841343a4ba87d662f2cfd9c59bdda6c4e30 100644 --- a/data/episode_138/sim.mp4 +++ b/data/episode_138/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eb121899e9f077b772f5c0d6db47061a87ce428e308e351db5505494c9fe28f2 -size 7944062 +oid sha256:c9fa7744a60d5841701d098def46dea24236aeea68cb171d101a557e38ce0fba +size 5620293 diff --git a/data/episode_139/data.npz b/data/episode_139/data.npz index cc0301ab711e5644cb27a285ad481067a527288c..1119561d267a74eca2d06aca40dd780baa5ab140 100644 --- a/data/episode_139/data.npz +++ b/data/episode_139/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1eb007c41fc80f8420e3bf99a94f9599ca0e852abac647d7c7faedaed1de719b -size 138849 +oid sha256:0804404e2f3c521663acea10dc1013285f1b3e10ecc053abf3c27aee60c7340a +size 112602 diff --git a/data/episode_139/meta.json b/data/episode_139/meta.json index 77ac6f4fdca068e0d63fb3b1384d6ae9d5a0447b..39cabf838b246188a40810ad7a36cb7ac3db3622 100644 --- a/data/episode_139/meta.json +++ b/data/episode_139/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": 401, - "duration_s": 10.372731447219849, - "fps_actual": 38.659055432065394, + "created": "2026-09-20 13:18:46", + "n_steps": 322, + "duration_s": 8.764285326004028, + "fps_actual": 36.74001792760119, "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_139/sim.mp4 b/data/episode_139/sim.mp4 index ae47ce1bb222f0d4fb823045986ab60cf74e672d..2879b57d8b43bd6c04e46a004f392519b0f33cf4 100644 --- a/data/episode_139/sim.mp4 +++ b/data/episode_139/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5b1261d15c909e6cc4cae0f65fe1d15cd794ec4a145930344acd19a3ec882c70 -size 7195112 +oid sha256:44b23ec8f8fae620a042c35175e20b7c99d240057123b1da37daba4ee27d4887 +size 6079100 diff --git a/data/episode_140/data.npz b/data/episode_140/data.npz index cbf5863fc9fbec31a506facc740876eca10866c6..ed81e0b19ad34bb9f3840794227cbe6690fed682 100644 --- a/data/episode_140/data.npz +++ b/data/episode_140/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:485693ca1f2432f294ce54275aa10f560069f88a92e85bbaef2c94cf0a6a8f0f -size 128007 +oid sha256:db1d63f813d3b00741da1a022e90528f2ac939a848e48dbdd5dcfda04eba118e +size 142675 diff --git a/data/episode_140/meta.json b/data/episode_140/meta.json index 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"fps_actual": 35.864304942131575, "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_140/sim.mp4 b/data/episode_140/sim.mp4 index d26a94cc73caacd820db796cdde9f80619d371e1..f77ce87953c4c6ad263e30cebb410100ef49cc3f 100644 --- a/data/episode_140/sim.mp4 +++ b/data/episode_140/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6ae945c7328789f681220ca5182a68c4475ec88fe37385e07a8dd793e9a85c57 -size 6769577 +oid sha256:253d33964860f86b4b7bc4ec6cdb5cc825317d6bd5be369653b79b454b47d38e +size 7547045 diff --git a/data/episode_141/data.npz b/data/episode_141/data.npz index 5fb35f4e81ed501e7681c291c2fe7c179115f0a7..76c54b47d5c49b9a6f30e5abaf1136e7c0b05638 100644 --- a/data/episode_141/data.npz +++ b/data/episode_141/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0bcc4e55fe3872895557dc995be3b214ec11565f01e9591a656a4fc0a81c3297 -size 158050 +oid sha256:be8b5f7b734781ba7126911a9a2e4b3ddef38e509528d55f84ddb9ce5e644f65 +size 97574 diff --git a/data/episode_141/meta.json b/data/episode_141/meta.json index 4587ff286b4caca7ea7ecedd71b7344b71574273..b74952718ff0d18104d1e8122e018a2fe4ff1a80 100644 --- a/data/episode_141/meta.json +++ b/data/episode_141/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": 11.134061098098755, - "fps_actual": 39.24893137820322, + "created": "2026-09-20 13:18:46", + "n_steps": 281, + "duration_s": 7.525729417800903, + "fps_actual": 37.338573366103184, "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_141/sim.mp4 b/data/episode_141/sim.mp4 index f0db1d9912b53115f714039f214dd26e155ebf92..b62f55c4ef61683c9a87ece04197621ce8e77348 100644 --- a/data/episode_141/sim.mp4 +++ b/data/episode_141/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:023327ee1840dfcad7d869f1a6afb33e77b2ef4b9937da44547449d74f72ab58 -size 8733616 +oid sha256:de762fccf93d619375a9782d540508bfdff9e5d9a314fd23034ae5c59315fa6b +size 4869267 diff --git a/data/episode_142/data.npz b/data/episode_142/data.npz index 0a1f152148ed9fe0e6de4e894421d03e9d3008c9..019c963a1012285022722f029cd4a80d1e35e462 100644 --- a/data/episode_142/data.npz +++ b/data/episode_142/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:370c7425d78f5c70d46e6578fe512e740276e47590e1956dda8ecd29a71344b9 -size 127566 +oid sha256:6f13943bddb6e5a1e232d56158c9240aa035aa77c8179a380bfc3bd0a41f77b4 +size 91922 diff --git a/data/episode_142/meta.json b/data/episode_142/meta.json index 0dd3bbf8b0503025f6a06cebfc297d18550c101c..64ccd590503ba462c45805c07cdec91d4218db26 100644 --- a/data/episode_142/meta.json +++ b/data/episode_142/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": 359, - "duration_s": 9.218939304351807, - "fps_actual": 38.94157322746813, + "created": "2026-09-20 13:18:46", + "n_steps": 256, + "duration_s": 6.993809938430786, + "fps_actual": 36.603797108252444, "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_142/sim.mp4 b/data/episode_142/sim.mp4 index 07d26c62ad519ea2a50bafac821e40f07721b88a..367fb88e49e11eb0fde4da214ac2afe87077ad69 100644 --- a/data/episode_142/sim.mp4 +++ b/data/episode_142/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5c3bb104aefac58111f86b6f567ded3b42965dd430c7a76d618e8ef7a0f17ec8 -size 6864637 +oid sha256:7eb885151e58c631ee0baa8b16b7b5639e4fab687a6ea32f7943d7ba01a6c29c +size 4667063 diff --git a/data/episode_143/data.npz b/data/episode_143/data.npz index fa51d36de2fb3bf951ed7a7edd0d6d52fcad5d32..9d7c0f4f30493adaa7287f281ba8491d3b2bcd52 100644 --- a/data/episode_143/data.npz +++ b/data/episode_143/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:87f0bc9f92f65d48360b17d75d819c9fa55aa04a487daf7c33191779579742ff -size 141841 +oid sha256:be63e4154251e89387f38c18583ebd078d35b9453891324215f6f577820e8fe4 +size 113173 diff --git a/data/episode_143/meta.json b/data/episode_143/meta.json index af342608077cf34e6dcc713f0852a7014e30ce47..ac71b9452112fc4377d7662f2acbacc627f51b95 100644 --- a/data/episode_143/meta.json +++ b/data/episode_143/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": 407, - "duration_s": 10.213571071624756, - "fps_actual": 39.84894187800029, + "created": "2026-09-20 13:18:46", + "n_steps": 331, + "duration_s": 8.743719339370728, + "fps_actual": 37.85574389488828, "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_143/sim.mp4 b/data/episode_143/sim.mp4 index 3a7e329488156522d3eed545fd5dba59f312644b..8d475adb86b96edaefee34cec9563ef28618b832 100644 --- a/data/episode_143/sim.mp4 +++ b/data/episode_143/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:aab6f6eaf481c58ea05969042faf7c915481a3b6a6c5f01ef457d440b74db6d0 -size 7397407 +oid sha256:8d5d21fdc9feaa11584d86fad38ff4c5b983ddf3a92b0c5cd2df23814e4692d3 +size 6086107 diff --git a/data/episode_144/data.npz b/data/episode_144/data.npz index 09005e363c53a31e57a353c4c55e021c696a7a7b..332b5254723b0a04cd8746c2d65f89ecfb35e2c2 100644 --- a/data/episode_144/data.npz +++ b/data/episode_144/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3ac657384034a00f023bf72cfe1ebc48cb3322593d863f3aa3d9b3244a3676b3 -size 177649 +oid sha256:c379125c1516b76c8c83edf85bff57b68bee75720ae6c2a314f3643e5fedbce9 +size 102600 diff --git a/data/episode_144/meta.json b/data/episode_144/meta.json index 242e2cb1e49fb50f2efa5d3b5e01651dacad47be..f18a4911cccc1c74753f7ae6eb87adc47a807a47 100644 --- a/data/episode_144/meta.json +++ b/data/episode_144/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": 516, - "duration_s": 13.340301752090454, - "fps_actual": 38.679784729692614, + "created": "2026-09-20 13:18:46", + "n_steps": 300, + "duration_s": 7.968453407287598, + "fps_actual": 37.64846007954733, "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_144/sim.mp4 b/data/episode_144/sim.mp4 index 5f0f191f967befd909eeffe24cf1ae50ff5d7354..63fa0f2cda76d4d26a54c7c743dfddf691bc6483 100644 --- a/data/episode_144/sim.mp4 +++ b/data/episode_144/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:208b4f3382f1dda01824888a0e38a335b9c582febb158b98ef99ae38040ac5c4 -size 9067594 +oid sha256:670157340296e4aeaac3cbb691d1d244ffdb9ed66ca9ffb0977909d4a588d9ae +size 5509765 diff --git a/data/episode_145/data.npz b/data/episode_145/data.npz index 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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": 413, - "duration_s": 10.643912553787231, - "fps_actual": 38.8015213308991, + "created": "2026-09-20 13:18:46", + "n_steps": 339, + "duration_s": 8.987593650817871, + "fps_actual": 37.71866120907135, "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_145/sim.mp4 b/data/episode_145/sim.mp4 index 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"fps_actual": 37.69832449473362, "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_146/sim.mp4 b/data/episode_146/sim.mp4 index aab1dc4071cebdac30178d529373c5ec91890650..571128c57f2d0706e4b5cff502b37e15dab96743 100644 --- a/data/episode_146/sim.mp4 +++ b/data/episode_146/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a9ac45f04feee29c4b4431f3e741f763a61fe969340c8cf3799542a19bd4f2c0 -size 9615631 +oid sha256:c5ee2ab8939404e3eff6fc38cb49ef8bf526a5ae404a8c55f483e8f16a6379df +size 6845094 diff --git a/data/episode_147/data.npz b/data/episode_147/data.npz index 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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": 343, - "duration_s": 8.854332447052002, - "fps_actual": 38.73809821927342, + "created": "2026-09-20 13:18:46", + "n_steps": 311, + "duration_s": 8.357872486114502, + "fps_actual": 37.21042651903164, "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_147/sim.mp4 b/data/episode_147/sim.mp4 index 1c2640445c2d1ba79be7037f2b517de7cfa67885..1411eecf47f33c3597f578697e61cab964617dd7 100644 --- a/data/episode_147/sim.mp4 +++ b/data/episode_147/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:37372e590fc855784f6cd09f4f9479d996a9d47a1e5a44de61ab0574c29d12de -size 5993259 +oid sha256:95070b304a66d2c29ac0132b5ec2a6a473e86d93ea2b7dd943d73f9e4a3322f1 +size 5926608 diff --git a/data/episode_148/data.npz b/data/episode_148/data.npz index bc6ea961d0a865df43d72a0b2a0ee1ff0d7ed455..ce80d7cba8a44495dcaf7e5e7e4deba6079a9610 100644 --- a/data/episode_148/data.npz +++ b/data/episode_148/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8b2f6684ee50765e4bfcdfbeb9e938006683b0d7d68f4b0fccf58fe82d708a65 -size 138806 +oid sha256:821c6ae1d0b3e5de4d347c09232256945836d4a48db88d810fa1856b7004e231 +size 131101 diff --git a/data/episode_148/meta.json b/data/episode_148/meta.json index 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"fps_actual": 37.39775065075307, "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_148/sim.mp4 b/data/episode_148/sim.mp4 index d0c74134b6b8414dc5845212e0c4d20a4e131bdc..b1e8caf7595d6ac57473bd1d2c1339f166858277 100644 --- a/data/episode_148/sim.mp4 +++ b/data/episode_148/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:93b02dd0fcdc99e56c7d83940fd037bf6331449ebe0d7d2670df6c2eeabf878f -size 6847682 +oid sha256:2400d01a0c46e06f9fc3da0c558e741d466d43f6d1910158cee3e427b1b4db47 +size 6875309 diff --git a/data/episode_149/data.npz b/data/episode_149/data.npz index 139625670f03e3c48961bd0a8cc665ddc91e5d35..a52de40cd1b9fce896085f0045df40cf267b99c6 100644 --- a/data/episode_149/data.npz +++ b/data/episode_149/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8fd8297b61bc484304a8211ac858994967cc00d48f00438a9496ec1cb2845fef -size 153573 +oid sha256:5290049f3de261957227135bbc9b384985e372a6b4c9b997f3314953f813dc1e +size 130243 diff --git a/data/episode_149/meta.json b/data/episode_149/meta.json index 185d41d426795caa41586dfe067a73cfc3631676..d61cce9d949190878de325d7a15a88facb914714 100644 --- a/data/episode_149/meta.json +++ b/data/episode_149/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": 440, - "duration_s": 11.245929718017578, - "fps_actual": 39.12526674384755, + "created": "2026-09-20 13:18:46", + "n_steps": 389, + "duration_s": 10.401849031448364, + "fps_actual": 37.39719725059644, "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_149/sim.mp4 b/data/episode_149/sim.mp4 index 6e8f39a7156af516aa452cc8f02e067233da61cc..299688f724e59eec419f75d89e15a9b1180aa029 100644 --- a/data/episode_149/sim.mp4 +++ b/data/episode_149/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b3e9de98ec467c7e1b2d5e5b0e7633ee0af7040557061eef8142bcf9e907c6e0 -size 7218960 +oid sha256:8739360ecf8fff221421ef2ae1eef4405db353b5fc7c40a26d035e76b90b6f9c +size 6547971 diff --git a/data/episode_150/data.npz b/data/episode_150/data.npz index e33b1353284d4f772aebb75c5abb50f84535257d..1a018b51a6874feef5ed724cf6842f9b51ca4470 100644 --- a/data/episode_150/data.npz +++ b/data/episode_150/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c67c6b9ec7a2482728ea64156711883363fa029a9a5464f05272d8ae4ad07877 -size 164947 +oid sha256:daa8e7d7a785c88770e7e5aa5fa0b37a1728a0bcdd649683c0ed482dd8e81f7a +size 141042 diff --git a/data/episode_150/meta.json b/data/episode_150/meta.json index 502410817e89e93e01a4260032cb10ebc6c09d8d..6a67f5b9bfde48eda4c1f55e85bcdc132060fd5a 100644 --- a/data/episode_150/meta.json +++ b/data/episode_150/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": 476, - "duration_s": 12.339620590209961, - "fps_actual": 38.574929959973815, + "created": "2026-09-20 13:18:46", + "n_steps": 409, + "duration_s": 10.852654457092285, + "fps_actual": 37.68663248397406, "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_150/sim.mp4 b/data/episode_150/sim.mp4 index 28ec76111cf2dc416b2e46cfbc4a483b8f4e58a5..6025e551de666d5dd0af1ea0e2d09a7292de7a79 100644 --- a/data/episode_150/sim.mp4 +++ b/data/episode_150/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b2e3a05e26d04669981974a3d12f47408639065d15758431070378f4e9efa0bb -size 8026938 +oid sha256:b67f919d4b43bf3a9790c769467dbb2c659492b54e7e60665975e8c5a5863e5c +size 7669518 diff --git a/data/episode_151/data.npz b/data/episode_151/data.npz index a9d41b1402151f0674c377406564c952ba6f9ff9..ac1730f95a85adf8b3f7fa851bd23748a6ab2126 100644 --- a/data/episode_151/data.npz +++ b/data/episode_151/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:467c61b44fd34966f583e596a381dd175f818a918fc0c1997a6974cace7e709d -size 130155 +oid sha256:99a8308d54002cfd101a22eeacad78b21dee4078dec847d9a41962de583f85d6 +size 139812 diff --git a/data/episode_151/meta.json b/data/episode_151/meta.json index 9a102cc99fc9fdbd6029eda104ab0af91c566a94..718883d11a98a19f4a84236323786d0053eacd63 100644 --- a/data/episode_151/meta.json +++ b/data/episode_151/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": 376, - "duration_s": 9.507968664169312, - "fps_actual": 39.54577610430631, + "created": "2026-09-20 13:18:46", + "n_steps": 412, + "duration_s": 11.082767248153687, + "fps_actual": 37.17483104850338, "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_151/sim.mp4 b/data/episode_151/sim.mp4 index 57b3c9531ba2eb742b12f17bf7ce4a04f03ef5b7..d403136bd592d30420e7acc67877da557b82dd12 100644 --- a/data/episode_151/sim.mp4 +++ b/data/episode_151/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:aeb1539000fdabdbdc36e22e9b3011f0c08d83afe1fdba4dc01b2fe1463db384 -size 6508478 +oid sha256:7c9acf5c569aa4192dfd2490888b66a6cdf4a62d1ccd3c1de1f1c94aa8ba07f7 +size 7204089 diff --git a/data/episode_152/data.npz b/data/episode_152/data.npz index 31d17f17c8667534ffade71f6a4f8235b6c57f55..a12d1a4f21fc689eff554a0f50305a2e011836a4 100644 --- a/data/episode_152/data.npz +++ b/data/episode_152/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8698f6702f4b6e030df81835cf11d61b993857986b0ea5486bcc70e0dd2fc564 -size 158919 +oid sha256:da939a87a8bffd91119a9d8fef42c27cc439261447b572072b64a0f2d95103d3 +size 143411 diff --git a/data/episode_152/meta.json b/data/episode_152/meta.json index 8c5ceb4ffedd0de97b01999443f75d9d00088930..18ff113779403f453b7e813481de67070c183594 100644 --- a/data/episode_152/meta.json +++ b/data/episode_152/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": 450, - "duration_s": 11.482527732849121, - "fps_actual": 39.18997719575662, + "created": "2026-09-20 13:18:46", + "n_steps": 414, + "duration_s": 11.081900596618652, + "fps_actual": 37.35821273530653, "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_152/sim.mp4 b/data/episode_152/sim.mp4 index c57aa7cb37b62bce9111a70bb642f4e626fc85e2..4be1465b0d19a8cdbdc6beca01bfadfcce7cb7ff 100644 --- a/data/episode_152/sim.mp4 +++ b/data/episode_152/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0d4a0da2c0361bd41853c641b0ea811921db2c9e3f093559aca5109ce2150155 -size 8531210 +oid sha256:448bc69fba6c536b7bbfaa11f7d1a2af510f2a75e7c5b7c4c8d02f60b32f4431 +size 7716636 diff --git a/data/episode_153/data.npz b/data/episode_153/data.npz index ea3d9fcb7250b56a01f1abff01c5902a7b8db0f5..1dde56b38540280db2fc7138ae973deab627f67f 100644 --- a/data/episode_153/data.npz +++ b/data/episode_153/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:923fbe2536486214d5e5197c6eeaeeae921df5794d13eb3815d122f7e43f38a2 -size 154335 +oid sha256:4c38fc1a7abe8182d1008fe002294f2f1ee7f18cb73010a596d4d643ba06cfbd +size 119115 diff --git a/data/episode_153/meta.json b/data/episode_153/meta.json index b0799020866412e67399dae406e1879bb071c18b..0d09651f273ab1ab1f73b34bfaeaf0036b91565e 100644 --- a/data/episode_153/meta.json +++ b/data/episode_153/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": 11.210739374160767, - "fps_actual": 38.98047982519562, + "created": "2026-09-20 13:18:46", + "n_steps": 350, + "duration_s": 9.444368839263916, + "fps_actual": 37.059120197097116, "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_153/sim.mp4 b/data/episode_153/sim.mp4 index 561a5cd4d5c4a5ae94dcc08d78328670986d5b4d..ad3cca9ee4c671aa2ed732558af3b3af2d2dac3a 100644 --- a/data/episode_153/sim.mp4 +++ b/data/episode_153/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:51156da385738c31bd61e2d714852ef75ec6f306fe6439c21e89cb45d9016386 -size 8028337 +oid sha256:95814164ee72e3cfb984c4f7fdcb59c12d990a6cf571a0160ee242304ec2a16b +size 6133068 diff --git a/data/episode_154/data.npz b/data/episode_154/data.npz index 6295de57c359c006e42d31d6df894798f748804d..f89827914085b8f5035e574cc1a965a860849406 100644 --- a/data/episode_154/data.npz +++ b/data/episode_154/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:140b4f657658d5b26b0f6db94633df9ffa61b37fcf90527b3d323c50324e4acb -size 165993 +oid sha256:d0d8c2d1578242773f890e27471c0dff0601da0ae6357efd66f4276afacd0ab2 +size 122978 diff --git a/data/episode_154/meta.json b/data/episode_154/meta.json index 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"fps_actual": 37.72245049213006, "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_154/sim.mp4 b/data/episode_154/sim.mp4 index e1a10eaef32b4ff078f2d4d88f552cfd359fb558..74a62f925013ea21efc0012154948f3ab305331a 100644 --- a/data/episode_154/sim.mp4 +++ b/data/episode_154/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4c39fcdf81067c2f9989dce614f983662674ba2f56713402a6863936361eee8d -size 8348810 +oid sha256:51d51a3c0fa13c5f57788b420e96ea21630962e5ac4bceb911c184aea341b6c0 +size 6546517 diff --git a/data/episode_155/data.npz b/data/episode_155/data.npz index 768f1c93d206a86635f1027354971f1c2d16ce46..1dea29e71805ed70aba193f414eb082f5ffc1df9 100644 --- a/data/episode_155/data.npz +++ b/data/episode_155/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3167d7ea8a8b36665fde4e8bbc0c2829af34f14f5cbe40bb5e7f524328ddde79 -size 145872 +oid sha256:51942a6088625b9d6105155ed3a8e32e9c925c76fdb4ebb131062de04a711ba9 +size 119797 diff --git a/data/episode_155/meta.json b/data/episode_155/meta.json index 8b7fae4afc7662816808506105e53626b51460f4..9591ff007d24e24bd5bfecf4cc87443aaf821081 100644 --- a/data/episode_155/meta.json +++ b/data/episode_155/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": 414, - "duration_s": 10.495070457458496, - "fps_actual": 39.44709105842963, + "created": "2026-09-20 13:18:46", + "n_steps": 345, + "duration_s": 9.234312295913696, + "fps_actual": 37.360659781093496, "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_155/sim.mp4 b/data/episode_155/sim.mp4 index 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b328e5b822b451185d414dcac6e6e08d18644554..a08019c2e50e99da0cd037a3f000740b75610c3c 100644 --- a/data/episode_156/meta.json +++ b/data/episode_156/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": 416, - "duration_s": 11.165642499923706, - "fps_actual": 37.257148435734216, + "created": "2026-09-20 13:18:46", + "n_steps": 266, + "duration_s": 7.251500129699707, + "fps_actual": 36.68206512340163, "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_156/sim.mp4 b/data/episode_156/sim.mp4 index 5f26dac952667db0799ebf2c76559d966b97c5e4..264398eb8e77c2684401bf8614de3fb09269aecd 100644 --- a/data/episode_156/sim.mp4 +++ b/data/episode_156/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ead290f1faf300e26e3f6fbff4fe96f50854d4df369f6de2df9050f51ada7163 -size 7133490 +oid sha256:b246a19bcdfeb72d6cf2fd2cf9299bcf4a2504cadb1b3e22597794b9295134ba +size 4856052 diff --git a/data/episode_157/data.npz b/data/episode_157/data.npz index 1473ef60ea2d8a9b1a08df148dc3f5a0b18b8dbe..30b57b88eb8decb9b872ab981ec34aa6f1f2d03c 100644 --- a/data/episode_157/data.npz +++ b/data/episode_157/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:faedf3d69658be08fc5145328d22d574a0cf4768ce0b8bdc690cf45ed02edb52 -size 152630 +oid sha256:462238f6130638c26151bcd8848b4b2572cdf96f8107d155a5f747442a2ac5af +size 100378 diff --git a/data/episode_157/meta.json b/data/episode_157/meta.json index 00e405d6f0af15e88628bf18cfe6d5a18ef6237e..67865ef2b67c5bdf7dfc56a80887e76bc54d025e 100644 --- a/data/episode_157/meta.json +++ b/data/episode_157/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": 448, - "duration_s": 11.645808935165405, - "fps_actual": 38.46877468916993, + "created": "2026-09-20 13:18:46", + "n_steps": 286, + "duration_s": 7.605382919311523, + "fps_actual": 37.60494416050916, "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_157/sim.mp4 b/data/episode_157/sim.mp4 index 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"fps_actual": 37.65094067927195, "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_158/sim.mp4 b/data/episode_158/sim.mp4 index d375de6a8fe69497c09cec807bc28b8a67491cd4..050acbd3718de8d04e87f55830102e680f726e2e 100644 --- a/data/episode_158/sim.mp4 +++ b/data/episode_158/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8dadfb6918f6183aa8475de97c8e416471218bd2f26ed21a91379106a852892a -size 9242021 +oid sha256:52239eab9d33cda46e4819d43d69639cc0077690df5a015b2866ad53b71dce25 +size 5706236 diff --git a/data/episode_159/data.npz b/data/episode_159/data.npz index d2b0eace22e44c5124a0daf1947888666b8264c9..280a770968d63efe6f7952b989f0654b95fb4b49 100644 --- a/data/episode_159/data.npz +++ b/data/episode_159/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:02d22cded4724ce344cb48c5125b267c4636a67a690b4f8ec0fb40a7c50d34a4 -size 156864 +oid sha256:d7e0bbe3bf695bf52e3babe586a195d41e53e6a1b777aba7b8e0c334482ad761 +size 104883 diff --git a/data/episode_159/meta.json b/data/episode_159/meta.json index d8fb0ffe7ba1f61c0fab85e05fe7fe2009f720a4..00f9791ff714dafd9f6f3ece2bcef73017ae4751 100644 --- a/data/episode_159/meta.json +++ b/data/episode_159/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": 464, - "duration_s": 13.074262142181396, - "fps_actual": 35.4895744749526, + "created": "2026-09-20 13:18:46", + "n_steps": 308, + "duration_s": 8.243181943893433, + "fps_actual": 37.36421227826556, "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_159/sim.mp4 b/data/episode_159/sim.mp4 index 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eac6b78123ac6c4c73ee55946408799c27cadb03..4a464fe068046fb1094bcd66e96163fb837dbedd 100644 --- a/data/episode_160/meta.json +++ b/data/episode_160/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": 450, - "duration_s": 11.85615086555481, - "fps_actual": 37.95498261643807, + "created": "2026-09-20 13:18:46", + "n_steps": 381, + "duration_s": 10.05777359008789, + 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