Upload folder using huggingface_hub

data/episode_000/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cf9da76d99df423fc586eb883b9fb717002b8675974f5fa6a5778bc5093ad50a
-size 254155
+oid sha256:0623ef6442751e36fb9cd743cd8055df7a92980a98425f7391dd0bcd7909b827
+size 170767

data/episode_000/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 15:57:46",
-  "n_steps": 828,
-  "duration_s": 21.137333631515503,
-  "fps_actual": 39.1723958392492,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 493,
+  "duration_s": 13.355732917785645,
+  "fps_actual": 36.91298733171571,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_000/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b89da3d19afd89ef91ee4fb680de682b38222386c90a44a775f25d0bda77f7d2
-size 12324495
+oid sha256:6a38179ac4997e43945ca14ce178f67cbbb17ac2cd2ad47e5fc5025213f3f3ec
+size 8734210

data/episode_001/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0a980b0106b33079db41c0c6e42c21f52046ea6b9cc95c80c38cf1f2efea4360
-size 209424
+oid sha256:523227dac1fddfc74bee6ec39c58c5261ea310655d9262ed4b18a4ac06d9c610
+size 123068

data/episode_001/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 15:57:46",
-  "n_steps": 720,
-  "duration_s": 18.22254252433777,
-  "fps_actual": 39.51150060637138,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 375,
+  "duration_s": 9.98459768295288,
+  "fps_actual": 37.557847787923706,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_001/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a42b77af0f552045dff9f62653a9bef485b8140bd3b31195b61c96d4e71e9b7f
-size 9904464
+oid sha256:e20a560615a2e8e41723b9ebb5e2d2524a4015bd52e2bc6454b5c84c75fc2eea
+size 6166835

data/episode_002/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fad3fbd262a2a2215e15cfa9048f178e22db2d512cb17063767b37ff8c8d9b5a
-size 207895
+oid sha256:281d40808df44a8fc719ea33f916e7cd2bc3e62c875210fde0df20f7cb15073d
+size 128921

data/episode_002/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 15:57:46",
-  "n_steps": 643,
-  "duration_s": 16.68455743789673,
-  "fps_actual": 38.53863085031623,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 378,
+  "duration_s": 9.96867823600769,
+  "fps_actual": 37.91876827106654,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_002/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9ef234abb61f4a22b42bb9d0128c39ef36cecdfe53a7ce5611d25435af181382
-size 9993581
+oid sha256:79a34ef107c6b965b836cdc3aa10ff51c12ef0c6529766c8c4b7085ceabf50ca
+size 6416655

data/episode_003/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f5f578eec4f2375c6e0cecbb24ba4adcdd23edac2739ed94e349f1ec18c52711
-size 196940
+oid sha256:5f002151e71a298e5832a866d90f603ea0a6a298fecb5aa2daca51fcf7549383
+size 106691

data/episode_003/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 15:57:46",
-  "n_steps": 636,
-  "duration_s": 16.346895933151245,
-  "fps_actual": 38.906469007990815,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 327,
+  "duration_s": 8.742842435836792,
+  "fps_actual": 37.40202370108278,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_003/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:648ccd44a5819d6a3bb3cfe2ad259cde9694611edaa1b3c98ac38b96f5b2cc37
-size 9072034
+oid sha256:9c7f8e37c3d08a1e694fd1dbbb1efcd38212f70dda18c60b7efaededce6939af
+size 5229881

data/episode_004/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ce8f54bacb8c8c768993045a64bc61411db7468cb9c321a8d0e6f68cf074637b
-size 267409
+oid sha256:7434f37dd14ac4a5b9dcf7bf0bc353296b12d22050662bb112b9408838633e98
+size 136310

data/episode_004/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 15:57:46",
-  "n_steps": 855,
-  "duration_s": 21.875685214996338,
-  "fps_actual": 39.084489998689314,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 397,
+  "duration_s": 10.980966329574585,
+  "fps_actual": 36.15346665172593,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_004/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9601498a202b10df74cb56fe8c0058bfa0bd8bf4cfdba1aeae90e0ee5dfc296e
-size 12126804
+oid sha256:9db10374238a957dd5d924f9a060b4ec2d2d116cdf2b438c80b33fceedaab42a
+size 6919176

data/episode_005/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6a5f1d1eab51cf6ef642e64d4b556dd5bf1513259a97a3efb06675e6304ca22f
-size 269561
+oid sha256:2e342a0a2dc3655247f114275c3992212b282ae9ae019fbb6ac779e967446f24
+size 125876

data/episode_005/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:01:07",
-  "n_steps": 827,
-  "duration_s": 22.58907175064087,
-  "fps_actual": 36.61062345231328,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 364,
+  "duration_s": 9.693426370620728,
+  "fps_actual": 37.55122142395671,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_005/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b0d147a7f8217e6a8f326cfdfc96827dc7e711234fa7d54d269a1c9d750304e5
-size 13948929
+oid sha256:f6e53830801dfc9dc428557e12b0944c5bfdc9066b594b2bfd94c1ea477db060
+size 5883800

data/episode_006/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6dd53899ff65dc00a4fdd8b114655f6d0545d86f74ce99c4621bf13e5ec1df61
-size 286388
+oid sha256:0b4722814541ac85b170d3b9b26cb2e4230cc68704a03332bee6d403c8779f3e
+size 206107

data/episode_006/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:01:07",
-  "n_steps": 889,
-  "duration_s": 22.888200521469116,
-  "fps_actual": 38.84097394052969,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 602,
+  "duration_s": 17.302942514419556,
+  "fps_actual": 34.79177021470875,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_006/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0473348465644c593802199a0e516baa9d92bdec532ebde6dc099b2d1e07aade
-size 14149144
+oid sha256:6e698f308349e0b4c2c11611bc3462edcbb603f4b8e41ad1f33276fffa6a7729
+size 10862941

data/episode_007/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ae56338d83786d736ab9a304fa39b2d09f8e19d6f9e01feba33e95dec6afa00d
-size 334075
+oid sha256:8911f101d8b56b45d9055737bc96b0ac18df2c598db85b204011c86d40a7926c
+size 144939

data/episode_007/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:01:07",
-  "n_steps": 1046,
-  "duration_s": 28.93664860725403,
-  "fps_actual": 36.14793178702049,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 441,
+  "duration_s": 11.659201860427856,
+  "fps_actual": 37.82420145728712,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_007/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9d54be7fcafc0dbe8f557db560786e556fd3ddf21ab13abee25a0149fe642326
-size 17863614
+oid sha256:f508e7df58c5379e79b6e45e4fef3d3000f936489553bdb15954b2fef0aac5b4
+size 6932097

data/episode_008/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5d4fa840cdb9054a73cae1d1b9c7f54ae4011427aad3ba4e8184764d0efbc941
-size 271827
+oid sha256:50a7be22bc646d9348b824d501f2f54562a3465316fcc4bfb5dcca3fde9944ca
+size 138052

data/episode_008/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:03:15",
-  "n_steps": 872,
-  "duration_s": 23.760796308517456,
-  "fps_actual": 36.69910674194943,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 397,
+  "duration_s": 10.446377277374268,
+  "fps_actual": 38.003605408724745,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_008/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3c268622a927867384b87987a1eb1d46460e06da2615494dbbce66f9b99d5a2b
-size 13474522
+oid sha256:ce1fc4ddd0470fd2d34a99ccdcd92a15c090dcdeb42b24d41a9ce8b4928265e8
+size 7246900

data/episode_009/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:315b08549d17a219d2be7a00f50aad0287194a82aad2637e6b2aea3e0f513bb9
-size 249742
+oid sha256:49bcca4f4cb7ce117f6d3920411b2e96a85d949b5cfd2b9f5cfd216a3272e0e0
+size 117039

data/episode_009/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:03:15",
-  "n_steps": 793,
-  "duration_s": 19.74318838119507,
-  "fps_actual": 40.16575158424332,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 336,
+  "duration_s": 9.245917558670044,
+  "fps_actual": 36.340362962129966,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_009/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ea2ec5e93e1b7ecceb0db01fde554c9b7d665b39801661708a29b974a22924e4
-size 12965117
+oid sha256:c9d677df08f908b26e521bc13ab9a6ebce1cde51e32f115287f064d4cc656d7b
+size 6163511

data/episode_010/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:93a0371c5806c511109de60af0cdb3cb517b3ce7a70fb1a714a0fea61bfcd7ba
-size 184626
+oid sha256:7274a5552ece1d83c122e8941f2ec5ef5df254fd383447fc70b8c66305b401f1
+size 125870

data/episode_010/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:03:15",
-  "n_steps": 580,
-  "duration_s": 14.6298987865448,
-  "fps_actual": 39.64484023180183,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 365,
+  "duration_s": 9.701244831085205,
+  "fps_actual": 37.6240375699466,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_010/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:673d86c46af77b5279140495804603dda315f03054332b82074741f5926217f7
-size 8718588
+oid sha256:4f8a6b9727a4bacf830ae1ff4e6bd706226ca0bf47c097b7e6fd5c178485bb4a
+size 6283132

data/episode_011/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6d98230a12d4f993fe3db1a590a1e3a55c2e4a39ef8f30ca0ae9d07d12b0450b
-size 180684
+oid sha256:590b8dcee78df8e28dc4b36697edcf8dfa34073ee8675cb1a490a4b1a3899f7b
+size 122862

data/episode_011/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:03:15",
-  "n_steps": 533,
-  "duration_s": 12.968062162399292,
-  "fps_actual": 41.10097509753044,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 354,
+  "duration_s": 9.36918568611145,
+  "fps_actual": 37.783433038877334,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_011/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:02e96ad6d972e987a7f7f34a0e19038d66b75b39b97b6a725c8b6d7a6d5ed57d
-size 8987588
+oid sha256:64b160cd0f6f57dd8c9a3957459e5968379a7ff4ec9ac7255fd67705881f6f21
+size 6471248

data/episode_012/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8ada5a91fdeb285b31ef5792a335d397cc6d0efdfac75f8c984b7d044a286770
-size 166794
+oid sha256:2996a29b8eefe8607e360ad72d6f3dd5520cf2e96a67b95f17bdc6cb4493efb9
+size 92054

data/episode_012/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:03:15",
-  "n_steps": 510,
-  "duration_s": 13.444915533065796,
-  "fps_actual": 37.932555154082586,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 271,
+  "duration_s": 7.178622722625732,
+  "fps_actual": 37.750974033759505,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_012/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0f3ea418a2cd01ac37aa787955111a8b5dd83395fc5f956b01372d79c90d23e7
-size 8448079
+oid sha256:d20f965b288d2b7e5ab17f2e2ca0f48c7f76fb7c4cb8aab0268cb2dc93d2aa74
+size 4698593

data/episode_013/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3b6eff06c389648f2a5755b0c933e69f31772c4a990adcaa9c82c369ccd831a5
-size 145738
+oid sha256:630ca8585a21fd3e98f41855643496989b95c08885083da056cd28f2ddc50c1d
+size 125913

data/episode_013/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:03:15",
-  "n_steps": 430,
-  "duration_s": 11.57535719871521,
-  "fps_actual": 37.14788171268937,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 365,
+  "duration_s": 9.648746967315674,
+  "fps_actual": 37.82874618190394,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_013/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4801763fc3c9304a9ada68ba751ca3c1f1848c6424411cfa7d0f579ab2a27c20
-size 7603468
+oid sha256:b60aa7bf6028c726155ef9710eb0e30f6d006eb96c56f1a35b63f5033145c141
+size 6847372

data/episode_014/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a5cee14d51e8fe9e821faf7206695843ddb00f9b72e4f85d294cb13821b821bf
-size 161735
+oid sha256:89b321610d884d7f7ff7615e831514596eaee5ccf9d3f496c489be10a1a80c12
+size 158503

data/episode_014/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:03:15",
-  "n_steps": 468,
-  "duration_s": 11.381950855255127,
-  "fps_actual": 41.11773156918184,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 454,
+  "duration_s": 12.268284320831299,
+  "fps_actual": 37.00598943807629,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_014/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:034f0eacc2ed67b712721d0cc0037cdf692c7b35f4093c23ffa23c37c13dde4d
-size 8077069
+oid sha256:78676b532346c3150ab26fad42e859fa7f737d65edbf64dfc05f7efef697a679
+size 8322593

data/episode_015/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ea19776ad13173fcc9da4fee3db1e7553f9786fbdf26971399b302f5f495435c
-size 163029
+oid sha256:c6b38449eba7cd7c314d3bf709c78f67a6f88a72c6a1352ae62ffcc9f71e7192
+size 143358

data/episode_015/meta.json

@@ -1,9 +1,12 @@
 {
   "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
+  },
   "speed_m_s": 0.18,
   "rot_speed_rad_s": 1.2,
   "look_mode": "minecraft",
@@ -18,6 +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",
@@ -37,14 +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 16:03:15",
-  "n_steps": 488,
-  "duration_s": 12.116668939590454,
-  "fps_actual": 40.27509560861985,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 410,
+  "duration_s": 10.862752199172974,
+  "fps_actual": 37.74365763689381,
   "fields": {
     "t": [],
     "q": [
@@ -77,23 +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
-}
+    "ik_rot_err": []
+  }
+}

data/episode_015/sim.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cfe5fd15cdc5d1c9b442f9c4953efc17958013948eef1b03a4bd5c9c8951b3b5
-size 8593711
+oid sha256:7fc81c6037c0e18d946718093c8cdcb32e0bbfbd625051d7f9e3b0502ccca1bd
+size 7568524

data/episode_016/data.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:42903fec64262dc30f9ed24e42cbfd7e55c481c7a850452b4384ec4b834a8e79
-size 165877
+oid sha256:6711c9b695c8c2188d09174f527fea4c47744a51fc6e64c8995965c3e97c44c3
+size 144591

data/episode_016/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 16:58:52",
-  "n_steps": 526,
-  "duration_s": 13.263001918792725,
-  "fps_actual": 39.65919655449161,
+  "created": "2026-09-20 10:08:22",
+  "n_steps": 417,
+  "duration_s": 11.087193250656128,
+  "fps_actual": 37.61096163587862,
   "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
-}
+    "ik_rot_err": []
+  }
+}