diff --git a/data/episode_000/data.npz b/data/episode_000/data.npz index dca0965aaf915ecbe5fd1a2279f08f33576a0373..5d7daf49dfc7a7ee7544773ad9d12dfe3efdc58e 100644 --- a/data/episode_000/data.npz +++ b/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 diff --git a/data/episode_000/meta.json b/data/episode_000/meta.json index 615875d5eb9ede49b86f701be1ad0731171ed4c6..70a4224ef9bd0cf58feeb455a01ac5629c4d76fc 100644 --- a/data/episode_000/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_000/sim.mp4 b/data/episode_000/sim.mp4 index 53b67f2b53ec6680f056cf1fb5b0af35b7db9af6..a01ff5eab8f1c4a00c9352f9afe0491a659089ff 100644 --- a/data/episode_000/sim.mp4 +++ b/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 diff --git a/data/episode_001/data.npz b/data/episode_001/data.npz index 787cff07f28c320c507be1644ac91ce99d5bbd75..625b2c41721f0a2c7709c6372db107b0d7390cf9 100644 --- a/data/episode_001/data.npz +++ b/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 diff --git a/data/episode_001/meta.json b/data/episode_001/meta.json index fe48bbe78b9d048143d213db319ec70a15773662..07b189d8d6e300c9d563465d411026acbef35d1f 100644 --- a/data/episode_001/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_001/sim.mp4 b/data/episode_001/sim.mp4 index 2f29c224b2e4798cb93c1fcbefeb3135b73995a9..6f3d44795a6c95f9e4671bd4068c57e6df4a2625 100644 --- a/data/episode_001/sim.mp4 +++ b/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 diff --git a/data/episode_002/data.npz b/data/episode_002/data.npz index 3072eef2d3327c38169a09773ac2d2543b3461b7..de1daa8f8ae971b890146d308513b8f56c301d0d 100644 --- a/data/episode_002/data.npz +++ b/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 diff --git a/data/episode_002/meta.json b/data/episode_002/meta.json index e048e269322a23c7f1f4315a9de7fd4cfeced535..cb96052ba4aca044a70dc555985557659ca96bda 100644 --- a/data/episode_002/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_002/sim.mp4 b/data/episode_002/sim.mp4 index 28ddf1804617185096decf104f0a81be51d4672b..927b599f013d450cbd9e02539037355f0529d9c3 100644 --- a/data/episode_002/sim.mp4 +++ b/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 diff --git a/data/episode_003/data.npz b/data/episode_003/data.npz index 0f36b3fad2a983e0647cb239b6c92e0a5b2de31e..ffc63d591de835a622849737eb13f1e470b0d090 100644 --- a/data/episode_003/data.npz +++ b/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 diff --git a/data/episode_003/meta.json b/data/episode_003/meta.json index 44c5df781956a470487d3f5088d48439bfa79671..7abaafb3ef38991d86f59936fa1c15dbf3651ae5 100644 --- a/data/episode_003/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_003/sim.mp4 b/data/episode_003/sim.mp4 index 0e43c353ef55642b160a4fb5b8d6c8b3f99a2301..5e5dc55cf2db4143794d21fe62c7cfec52621f1d 100644 --- a/data/episode_003/sim.mp4 +++ b/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 diff --git a/data/episode_004/data.npz b/data/episode_004/data.npz index 6e642af8d37760e03dc893c62fedc50269a91c31..c67d17a96cf790b2547852c9646e87696b44a964 100644 --- a/data/episode_004/data.npz +++ b/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 diff --git a/data/episode_004/meta.json b/data/episode_004/meta.json index 2ed9a561eaff9c82f41522ce0664224415aaaf4b..b1648b363f23b0d053c1277556ba10c65c5fb8e8 100644 --- a/data/episode_004/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_004/sim.mp4 b/data/episode_004/sim.mp4 index bdb7f418df89814ffcc1d1d0f96e2b1f6ce478ce..5f55f06316fc2be4ed572c5683c4213131bc5f54 100644 --- a/data/episode_004/sim.mp4 +++ b/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 diff --git a/data/episode_005/data.npz b/data/episode_005/data.npz index 415f3652d87f8352ae2934e501cb52af4fbbd15a..0128d8e7dc9b2928a0594fba58910fba455a5096 100644 --- a/data/episode_005/data.npz +++ b/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 diff --git a/data/episode_005/meta.json b/data/episode_005/meta.json index a17a5fea9af52c40b2feae64dd2314490fb10f5f..c44a1e694f750e9b9744a7ba940c6846b3779b16 100644 --- a/data/episode_005/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_005/sim.mp4 b/data/episode_005/sim.mp4 index 2b0f76d85a9e2a039cc4b82534177fd92bd587fd..bbde23b178e36c7f386e0207e39cffc7399f0eef 100644 --- a/data/episode_005/sim.mp4 +++ b/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 diff --git a/data/episode_006/data.npz b/data/episode_006/data.npz index 4c030f30c76703e80732698130d9a1e3afe19632..3658c62ac35c131152d8ca420d015535aa5ecfc4 100644 --- a/data/episode_006/data.npz +++ b/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 diff --git a/data/episode_006/meta.json b/data/episode_006/meta.json index bb44c6eec273fecb5ca0a6995fdc49743c80bfa5..a29f06b054d9c262925d02196381555da5e426ed 100644 --- a/data/episode_006/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_006/sim.mp4 b/data/episode_006/sim.mp4 index 1a27ee47e322da9750e2108ade25c2521b868a97..1c4c188a76f92798883a458bf5e6274be0e0610e 100644 --- a/data/episode_006/sim.mp4 +++ b/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 diff --git a/data/episode_007/data.npz b/data/episode_007/data.npz index 1b0ddc0b7b2adefe2f479e1aa1c68daca5fc02de..c3dd1940a0e8315d60a449043f17d12a0f3094de 100644 --- a/data/episode_007/data.npz +++ b/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 diff --git a/data/episode_007/meta.json b/data/episode_007/meta.json index 12e080420884b762a59c0073610a8432778dccfb..799bd56b8c6b7a3c9ecac06f8c72078c7f4d0c0a 100644 --- a/data/episode_007/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_007/sim.mp4 b/data/episode_007/sim.mp4 index d2c1eb3c67413eb17e059824c3d888265069776d..ab9c88adbec2b5a5a2e73c144bd22f62cc451bc2 100644 --- a/data/episode_007/sim.mp4 +++ b/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 diff --git a/data/episode_008/data.npz b/data/episode_008/data.npz index 5405adb3a364bac36dcf18b2953e739d75646d84..8ce7acd33a12d2c2f2d21676567bc24df109e408 100644 --- a/data/episode_008/data.npz +++ b/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 diff --git a/data/episode_008/meta.json b/data/episode_008/meta.json index e24f2e4b428719213bc3d26236ba65b960dace2d..91a9861fe73f74f79b0c8acbaf6362cf19dbafa0 100644 --- a/data/episode_008/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_008/sim.mp4 b/data/episode_008/sim.mp4 index 542b800bd9dfa8a2c7bd3efa8a8032af017a317b..df306f5380ac1301722af3114893495a6e1d2615 100644 --- a/data/episode_008/sim.mp4 +++ b/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 diff --git a/data/episode_009/data.npz b/data/episode_009/data.npz index 4132cf81bf5fbd6eb1bc610c193fb364583ab146..38bd97228462508e702f7ecc5beec6876096cf23 100644 --- a/data/episode_009/data.npz +++ b/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 diff --git a/data/episode_009/meta.json b/data/episode_009/meta.json index fe8a205fd3716f228cc12c11c323093d0b06d4af..b2dbd64e37d51b154bdc76032c187889b8f25259 100644 --- a/data/episode_009/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_009/sim.mp4 b/data/episode_009/sim.mp4 index 1a904b58505f88ea6112bf511a338ca3768031f3..a4c80d3038481467a13b2be20fc0348f8ad37697 100644 --- a/data/episode_009/sim.mp4 +++ b/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 diff --git a/data/episode_010/data.npz b/data/episode_010/data.npz index e967ec6ccb5a887871d761e3782d94e0bbc3bd4a..418cf310ebf144a7e7ff339098bed4140df5f8e7 100644 --- a/data/episode_010/data.npz +++ b/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 diff --git a/data/episode_010/meta.json b/data/episode_010/meta.json index 32784fa5263d77e96ffff44d9194295c4d500ebf..fa3a17b234229e68ca61785ea90b1dc6fa4b45e6 100644 --- a/data/episode_010/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_010/sim.mp4 b/data/episode_010/sim.mp4 index 7a6df07eb79543c071d81a71fb165fcad2ba04b4..cf12d7e1b2050a198ec04dcd77409b97a67b4af7 100644 --- a/data/episode_010/sim.mp4 +++ b/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 diff --git a/data/episode_011/data.npz b/data/episode_011/data.npz index 97253b6b8a17513fd591512982253af7292831bd..22ecc56fc0cc342246fc2c0621b6e169e6aaa171 100644 --- a/data/episode_011/data.npz +++ b/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 diff --git a/data/episode_011/meta.json b/data/episode_011/meta.json index c070b62b636d21b1e828d662db3320ae6f4041d0..e58efb749191151f7c8a9248abf21212cdb23d15 100644 --- a/data/episode_011/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_011/sim.mp4 b/data/episode_011/sim.mp4 index ff1be6d0bfe767a56604f141046d1ab51edda8db..59cd2dd2804b6fe766aa9ca73f99ebe761adf67a 100644 --- a/data/episode_011/sim.mp4 +++ b/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 diff --git a/data/episode_012/data.npz b/data/episode_012/data.npz index 83610f5b455a5bf35247a52961b4bc603d4d7ab9..a6f68579f4a16a62790ec8d66d34020183403353 100644 --- a/data/episode_012/data.npz +++ b/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 diff --git a/data/episode_012/meta.json b/data/episode_012/meta.json index 49ea331f4a93e1f05e7b675f5d757ce2c0d3520e..9495e0e3168f66a1d546d2f197d8ce27eb80fcf5 100644 --- a/data/episode_012/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_012/sim.mp4 b/data/episode_012/sim.mp4 index e99eeae61ed2ec104d911724af05709f126185c0..1cb409c8b280f3c31ad6ace5757668ad8a9d008d 100644 --- a/data/episode_012/sim.mp4 +++ b/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 diff --git a/data/episode_013/data.npz b/data/episode_013/data.npz index 699f7eacf69534278de1687ae25cede2111f67fa..cacae4cfccc32aae7c83794d7ab7bf51cc688007 100644 --- a/data/episode_013/data.npz +++ b/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 diff --git a/data/episode_013/meta.json b/data/episode_013/meta.json index 558110a250dc333a203e6623766114765e50427c..17dc05d3c35077a57f21004fcffae7809c191c9b 100644 --- a/data/episode_013/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_013/sim.mp4 b/data/episode_013/sim.mp4 index 9b076ada103717d54b2b7bf7cc74023959263bb9..cfe61677e98d1fbd87ee3938a3c302e169409908 100644 --- a/data/episode_013/sim.mp4 +++ b/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 diff --git a/data/episode_014/data.npz b/data/episode_014/data.npz index 886d2d3585e449d0fd4745257e6f2f9585ef7303..091d506bd55eb01359dc3edcaf22b20a59b8d913 100644 --- a/data/episode_014/data.npz +++ b/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 diff --git a/data/episode_014/meta.json b/data/episode_014/meta.json index f7675d3acbf34618588e281be6733c0b083952c7..b5f13860a326a686450200513573147d50eaaa82 100644 --- a/data/episode_014/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_014/sim.mp4 b/data/episode_014/sim.mp4 index bdb1da7b1f0d16b27414f831e6639843a1d699a8..797410a76bcbdb953defa097d4fdd162c04853a5 100644 --- a/data/episode_014/sim.mp4 +++ b/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 diff --git a/data/episode_015/data.npz b/data/episode_015/data.npz index ebe7dcab4336a6940c329503f045ca4952c0597b..d664833d21a1e10f6cd03893ee68c9751e9feb73 100644 --- a/data/episode_015/data.npz +++ b/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 diff --git a/data/episode_015/meta.json b/data/episode_015/meta.json index c3851c84a6fc1d5379fc4b0dbf3d7c0b7d02eadd..bacd9f6f6a90875f4e1fce1c73a3773f5a551b33 100644 --- a/data/episode_015/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_015/sim.mp4 b/data/episode_015/sim.mp4 index a9e3a64bcd50c3590afb1dff530d8480132646ac..852a9a6adbd5f1350da1e1605cef62f77f9bcd4c 100644 --- a/data/episode_015/sim.mp4 +++ b/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 diff --git a/data/episode_016/data.npz b/data/episode_016/data.npz index e6326c738586ac85aec88b8e062c83c5c1e40f6a..a810eb3a56f57424077335f3d44a4a6daa43e911 100644 --- a/data/episode_016/data.npz +++ b/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 diff --git a/data/episode_016/meta.json b/data/episode_016/meta.json index 91f9bf70f843adec77b4ac8b6d376df3af6c6913..0fd3485c4567bddaf14bde953e8c8ed2ccb9ebcb 100644 --- a/data/episode_016/meta.json +++ b/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 -} \ No newline at end of file + "ik_rot_err": [] + } +} diff --git a/data/episode_016/sim.mp4 b/data/episode_016/sim.mp4 index 084baa8cdbab514de9da9984bbbe700226d16d59..c93e297138abc7c831efc27edc9b6a31faf1ffab 100644 --- a/data/episode_016/sim.mp4 +++ b/data/episode_016/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7b95ada46b49c088e608898d928066a41855ec462d4e459ce7ef181e1162df89 -size 7637811 +oid sha256:02be24e34346aa9bfa9753873958b768e74c043595e741f9fa2d3a7fd184d8d8 +size 7378199 diff --git a/data/episode_017/data.npz b/data/episode_017/data.npz index 86abb4309271a34489b9a0b8b8b9b80260be4f65..eff3994161f04646bab9716309a4c97111dcf138 100644 --- a/data/episode_017/data.npz +++ b/data/episode_017/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:13ec95fa640e3c461edb770f6f65166058d0e05f3f400420d66921343c2911d5 -size 224771 +oid sha256:b66910692802c105c03b5f4bc8173a39388e0e207eeeb822ac3613943f0724d9 +size 125270 diff --git a/data/episode_017/meta.json b/data/episode_017/meta.json index 21547f9db07335b469146c6a5da8bc7d0a7640db..1bdb9140d4e9162e2efdfad07aa65ed36f04c763 100644 --- a/data/episode_017/meta.json +++ b/data/episode_017/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": 701, - "duration_s": 17.590399980545044, - "fps_actual": 39.851282561812404, + "created": "2026-09-20 10:08:22", + "n_steps": 360, + "duration_s": 10.314575672149658, + "fps_actual": 34.90206591552132, "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_017/sim.mp4 b/data/episode_017/sim.mp4 index 94b9331a0365977c8b3ca1a7f41c00502b381776..37ed28570903bb3616bceff61036b80b6103ef4d 100644 --- a/data/episode_017/sim.mp4 +++ b/data/episode_017/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cf3cdcb4a886e0ee8c584996c5b9f1a3084e3ae221059aa8868e72bdea908dbb -size 11236811 +oid sha256:abdceee9dc1f873e613f68c24c778c0948bf6c33335a00ee81db6b89c09ef929 +size 6503128 diff --git a/data/episode_018/data.npz b/data/episode_018/data.npz index ec836c070aaa4392335be5b654a25684cb3c8d80..56d8e64f90787e523e20a7fdef58d7f203c109e9 100644 --- a/data/episode_018/data.npz +++ b/data/episode_018/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:697bd28258f5e0d0c200f32ada51ff726d105249f8f68b1d8b24cba444abce2f -size 219773 +oid sha256:2a8a39cc818aeebdcf302bf25eaf7d20eda9fc07db23b3eca0be2ec864f94b6e +size 129623 diff --git a/data/episode_018/meta.json b/data/episode_018/meta.json index eafd51f99885ecbb63529f467e364be6562af34f..397cf9e444bc43221c64aa4852791217a8b7629b 100644 --- a/data/episode_018/meta.json +++ b/data/episode_018/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 17:00:35", - "n_steps": 659, - "duration_s": 16.64710307121277, - "fps_actual": 39.58646721780589, + "created": "2026-09-20 10:08:22", + "n_steps": 374, + "duration_s": 9.840664863586426, + "fps_actual": 38.005562142850565, "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_018/sim.mp4 b/data/episode_018/sim.mp4 index c2e2fe6cda0ea67de09e7af3d102e17d736d31a6..2f6631d599b5cee36daa44690780156178661e5a 100644 --- a/data/episode_018/sim.mp4 +++ b/data/episode_018/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1b7a81bf54def6a27bf08474423177b9e2a87c9eaee1d3d7ab1f4fd99df9d6d5 -size 11300629 +oid sha256:28c241975d7a378d3fe222fa654ac967ce68db18a8355c70a57bb52c32093656 +size 5703483 diff --git a/data/episode_019/data.npz b/data/episode_019/data.npz index b6b8d9a5545062a69b0ac6688db749bd903c685e..8e2217fffb5b85a3600a3249c2123a608abc1395 100644 --- a/data/episode_019/data.npz +++ b/data/episode_019/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a72d54d13514340204f59fb56dbbb878633457653b19e23b0deb9f04b483112e -size 197304 +oid sha256:2641b2da27dd68a4544d5149e38b1c690c8e2515938d5e4f3d543992925f92c3 +size 135152 diff --git a/data/episode_019/meta.json b/data/episode_019/meta.json index 24274f0c05ffb40889ebfcb258957bafe4b9c8f6..8765d2db09a94068613743b0f126c548440fa9e2 100644 --- a/data/episode_019/meta.json +++ b/data/episode_019/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 17:00:35", - "n_steps": 590, - "duration_s": 15.082969665527344, - "fps_actual": 39.116965231884386, + "created": "2026-09-20 10:08:22", + "n_steps": 399, + "duration_s": 10.61226224899292, + "fps_actual": 37.598015450274445, "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_019/sim.mp4 b/data/episode_019/sim.mp4 index 1c3917a450be25383aa332723098795d1122ddf4..a610ff17d52052eacd001ccea985ffe7c81444f6 100644 --- a/data/episode_019/sim.mp4 +++ b/data/episode_019/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:40b49b2a592076813f1a3b2f66bcefcb9b13f4abfaf772e7b685fa2c5d2d4843 -size 10039853 +oid sha256:748d624adf3aa90294437233f54f9f249a1f667f1c9c81aec5d9dcf476ae55c1 +size 6845571 diff --git a/data/episode_020/data.npz b/data/episode_020/data.npz index 2ec05efabea84d94e325eb8dfcefba9e0e9cc4bc..20dd1bbc3d46c06e50d79014f2939ad6a3ff6996 100644 --- a/data/episode_020/data.npz +++ b/data/episode_020/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:31ec1c0b9d6635a5d7b08fa99593b21f3165df30e7b6783b98a856ba5def9769 -size 240606 +oid sha256:87d1f1920f98dfad7f2f437bae4f651c6277ca5148c7982f519b41e34ce0fb80 +size 152943 diff --git a/data/episode_020/meta.json b/data/episode_020/meta.json index 7db439ca93d8be3ba95b061241f7eca65ef4a3d8..956de584f2fced8d4e9e69ee71bd8ab1a239b6c2 100644 --- a/data/episode_020/meta.json +++ b/data/episode_020/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 17:00:35", - "n_steps": 755, - "duration_s": 18.518004417419434, - "fps_actual": 40.77113186611998, + "created": "2026-09-20 10:08:22", + "n_steps": 455, + "duration_s": 12.045370817184448, + "fps_actual": 37.77384747266371, "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_020/sim.mp4 b/data/episode_020/sim.mp4 index 6edefa875e73eaf4542a58ef0483c207e08d7bce..74ec4890ac6f82acaf8822e8673b3beb22d5e298 100644 --- a/data/episode_020/sim.mp4 +++ b/data/episode_020/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:18b04b3e47c11fddcf1d747a2c757968518d480014eb2a20be83247cc1bdf8e3 -size 11804368 +oid sha256:c1619715f4ab175a21617a22011476b37f9ee80b2cf5c2c1305476659c91311d +size 7390883 diff --git a/data/episode_021/data.npz b/data/episode_021/data.npz index 68c81788b94b81cfb0e64ac916ffcecfb61c735e..4930a8992afcddc470a00ec8eb8d0aa96f2b0492 100644 --- a/data/episode_021/data.npz +++ b/data/episode_021/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9d7d86a3740207d59615bbc7a47f90efb3ac76194981d942cf7a2d886a87e188 -size 171553 +oid sha256:690e226543d4087f9fec75526fe9999e69ad29b8661a203e731be55aefcb4942 +size 137074 diff --git a/data/episode_021/meta.json b/data/episode_021/meta.json index d068d04a97b56cb8fccaf756bfe077f220a42a97..8a867507e3a2f087b01129dadbb54661a67f9340 100644 --- a/data/episode_021/meta.json +++ b/data/episode_021/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 17:00:35", - "n_steps": 516, - "duration_s": 13.472247123718262, - "fps_actual": 38.30096013393102, + "created": "2026-09-20 10:08:22", + "n_steps": 404, + "duration_s": 10.714770555496216, + "fps_actual": 37.70496044759123, "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_021/sim.mp4 b/data/episode_021/sim.mp4 index 95bcdfd26b08e56ce69b7bbda4a8d8b09ec2c354..647771b208620583b01b8c732a61347473f26caa 100644 --- a/data/episode_021/sim.mp4 +++ b/data/episode_021/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ab73d3ae72a700534bcd95e1999cc3c781652186c915d0cd4f7aac34f2787d17 -size 8610475 +oid sha256:25eadb88a4642a79338906c379c85f8e9d553a58b1a6fcb6c0a461b9d7382f11 +size 6793175 diff --git a/data/episode_022/data.npz b/data/episode_022/data.npz index 7370c89e29a99add5d0def42392dad36911f6f24..ec652ae7a93ebbbc01fe8fa4faba7f987ea331b8 100644 --- a/data/episode_022/data.npz +++ b/data/episode_022/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:498a93f033c1d0e0f9f489cbfead713009fb83523a3959faf3580500ee5ebcf9 -size 158119 +oid sha256:6fcf01922d42b43425b6147e5c5d2787d3fd7bb15311463b09b833b51ebbc599 +size 111527 diff --git a/data/episode_022/meta.json b/data/episode_022/meta.json index fc5728246eb5f690f1f1432eac6245056b5db1ef..7866cb8b2b3ce8acc2275f13e414c14f20b8129a 100644 --- a/data/episode_022/meta.json +++ b/data/episode_022/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 17:00:35", - "n_steps": 464, - "duration_s": 11.712177753448486, - "fps_actual": 39.616885071897215, + "created": "2026-09-20 10:08:22", + "n_steps": 322, + "duration_s": 8.508577108383179, + "fps_actual": 37.8441654695408, "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_022/sim.mp4 b/data/episode_022/sim.mp4 index cd75be40e42bee9003f1c878884e5ef6a7a44753..57ac69a8a4e281581d3b25cceab209bea2d07e00 100644 --- a/data/episode_022/sim.mp4 +++ b/data/episode_022/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ae3ccac23cbc6316a5000c60ab973712366176d58f71d325e77c281f4aa21f42 -size 7711477 +oid sha256:c871c95f2b401d8dbe16786bce323b0ffe4fc9d238a0707dc8019f8134787391 +size 5819346 diff --git a/data/episode_023/data.npz b/data/episode_023/data.npz index 7c3b431abb1e6d492324cfb6bcefaea4a0c7b23c..92e80a53e4c11f56b0d87c4fc62b051d7c813c07 100644 --- a/data/episode_023/data.npz +++ b/data/episode_023/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:229fcd464e9f1bfe5da538ff823ba8d564724b7f7ec4d8c55147d86012c9b3a0 -size 207469 +oid sha256:697c4b87cb505ca3dd28bacdffd766049f0b88276791c654c49c4bb77c73cca9 +size 133248 diff --git a/data/episode_023/meta.json b/data/episode_023/meta.json index 97f3e032fdcf4ded39df22964677613a633d005e..f35d8c3b35bd2a92e525f319a2b76f8a3605d8d5 100644 --- a/data/episode_023/meta.json +++ b/data/episode_023/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 17:00:35", - "n_steps": 649, - "duration_s": 16.142258644104004, - "fps_actual": 40.20503043030157, + "created": "2026-09-20 10:08:22", + "n_steps": 385, + "duration_s": 10.18259859085083, + "fps_actual": 37.809601995499115, "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_023/sim.mp4 b/data/episode_023/sim.mp4 index 5aead81b81d2388c255ad58571748c78a8b92747..546c5632d9b6c26511acfcb63bfef175109e86bd 100644 --- a/data/episode_023/sim.mp4 +++ b/data/episode_023/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3f2c20c01f65d6f5a39f317f410493eb7756ab87f80e9239db67d1daea40a569 -size 10799259 +oid sha256:6e9396ba2d9362644844117f5a7eb79aab591335c4cf34d19dc39466e4e77ab5 +size 7195278 diff --git a/data/episode_024/data.npz b/data/episode_024/data.npz index f3a49dd975f0d0c1246cb3805e6643b2cfebf31b..710018b6fc7dde94f6588772d8bb1bfb9bff9dce 100644 --- a/data/episode_024/data.npz +++ b/data/episode_024/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b7d39eeaa5ed176f3b5b408350d6fb551840598701b5d04adcf6c484e597c8f3 -size 186123 +oid sha256:7cddee0205ee384f21062d993e1ebd5d0657972847d8a17114a4039184b17a0a +size 134469 diff --git a/data/episode_024/meta.json b/data/episode_024/meta.json index 0d0de7f5acb87f01b9d0d52b7f3e75797244d7c6..a5978b25c5a5b1c5a81c17216e8144b2356cd2e9 100644 --- a/data/episode_024/meta.json +++ b/data/episode_024/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 17:00:35", - "n_steps": 557, - "duration_s": 13.808488845825195, - "fps_actual": 40.33750587910286, + "created": "2026-09-20 10:08:22", + "n_steps": 396, + "duration_s": 10.394039154052734, + "fps_actual": 38.09875969589703, "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_024/sim.mp4 b/data/episode_024/sim.mp4 index e3579e69257d0cf428f4360047b0c9b873dd9854..c76786b56f57f988259fd2381ef8bac258efc01f 100644 --- a/data/episode_024/sim.mp4 +++ b/data/episode_024/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:334f981013164c31fc5645305a0f4346c7f5a2cc7332047bc9fb586d44780bc5 -size 8849942 +oid sha256:0eefa24798c0026ea74d66e499cbc0049b0ed5361c28acc101715816887ed490 +size 6595681 diff --git a/data/episode_025/data.npz b/data/episode_025/data.npz index 358bfa9f9bbd1b47e0110ac515518c45db764da8..b18e2931d407032217931e2ed41a7cf8042aeae2 100644 --- a/data/episode_025/data.npz +++ b/data/episode_025/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:50292860978a30ab6e72dbd60c26781465a6aea78390408d577a1a0c050f325a -size 203237 +oid sha256:bddf7ef4d94b5a841fcf851d2125967c69b68e5dbbaecb9da888f004eaf49e10 +size 112905 diff --git a/data/episode_025/meta.json b/data/episode_025/meta.json index a3089a801c748c1a93f8df48eb836c91a1decbf2..67da8d994298fc53be3aa3a891cb13504d032bb9 100644 --- a/data/episode_025/meta.json +++ b/data/episode_025/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 17:00:35", - "n_steps": 605, - "duration_s": 15.281414985656738, - "fps_actual": 39.590574601099306, + "created": "2026-09-20 10:08:22", + "n_steps": 330, + "duration_s": 8.993136882781982, + "fps_actual": 36.69464885292796, "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_025/sim.mp4 b/data/episode_025/sim.mp4 index 54f08eee28719970f41e2238e3c04b4fd58fb052..bd72de61628bf79ad254b0a650461219e4490043 100644 --- a/data/episode_025/sim.mp4 +++ b/data/episode_025/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8d1925c071e309f172e5eae2a1d3e43ca79ad60a02ed88a88d3c17dce79a4015 -size 10625140 +oid sha256:aec6d0dc360081722dbf6502445ea5e6a13081893882d33d0443ccdaef38fbb4 +size 5957007 diff --git a/data/episode_026/data.npz b/data/episode_026/data.npz index 5482ad5bac389b98fd01566c512bcf5a212bafca..809cd13f5a017e3294bf84284d43933b40509245 100644 --- a/data/episode_026/data.npz +++ b/data/episode_026/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c1e8e5f67315bcbd71755a7a08e2afdc5ed3a6bc3a5cdda12f4c154a20cc9cab -size 200805 +oid sha256:47a70543548ed12140cbd10976ca0571078d78432c317175e18cda54c3607c75 +size 119021 diff --git a/data/episode_026/meta.json b/data/episode_026/meta.json index 7735f56822e7f12dfb9acc245143d164e66922a1..40a05fe8944778d54de60da3adc18c9cdb3a5a4b 100644 --- a/data/episode_026/meta.json +++ b/data/episode_026/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 17:00:35", - "n_steps": 604, - "duration_s": 15.131401062011719, - "fps_actual": 39.91699099935814, + "created": "2026-09-20 10:08:22", + "n_steps": 353, + "duration_s": 9.411624193191528, + "fps_actual": 37.50680995692157, "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_026/sim.mp4 b/data/episode_026/sim.mp4 index 132f1762ecdd4a1b30637e8de6c9c3ec9b5394a3..58d5ebb5bf0c8c164a17b455afde291140e8ef6b 100644 --- a/data/episode_026/sim.mp4 +++ b/data/episode_026/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1fe451f3e79f7ff26efacc4994b973251892f7a1d082d4bcded50a517f5f71bc -size 9515092 +oid sha256:192b91f9f57c399d5a7502d57b89d1a4f12d5a883351c6dab996c1db68f5056e +size 6459975 diff --git a/data/episode_027/data.npz b/data/episode_027/data.npz index 610b9792dc8dbaa97c3f4835c660fe31911b7d21..5db6897835a95fc66b638191b4e0cde21eb29801 100644 --- a/data/episode_027/data.npz +++ b/data/episode_027/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ffffe25a4c99b3b8332b70690a03a1b8d54d913aec7cc741eb58236838abafa9 -size 173206 +oid sha256:f71e26c9c915590687fcd64bfa29d55b0050acb47b937fae70c396e823137ee5 +size 131733 diff --git a/data/episode_027/meta.json b/data/episode_027/meta.json index c0f0baa7c27734cd76c4895331b4af22b0618011..7715f9d89ec85e15be560245ad0e2711ac10dc85 100644 --- a/data/episode_027/meta.json +++ b/data/episode_027/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 17:00:35", - "n_steps": 530, - "duration_s": 13.310511589050293, - "fps_actual": 39.81815397959588, + "created": "2026-09-20 10:08:22", + "n_steps": 378, + "duration_s": 10.022639513015747, + "fps_actual": 37.71461594614035, "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_027/sim.mp4 b/data/episode_027/sim.mp4 index ca4e1f2d30e655419eb3b8bd0fabebc26fe91237..84a57020e2c649b11d6130782dbdec87ad56359a 100644 --- a/data/episode_027/sim.mp4 +++ b/data/episode_027/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:862c3594eb01a1286ca2401ec31493fd886a3f128686b29aaaa253b7b270f440 -size 8482548 +oid sha256:065fb716009178a8e2b3354deba07b48e5d46b7d2db9c52ef2a7c80b934a2786 +size 6978276 diff --git a/data/episode_028/data.npz b/data/episode_028/data.npz index f7d4eec222c0314253441448009feae06bb62a9e..107cc155a11201c3dec436da9db37e091aaa4ae6 100644 --- a/data/episode_028/data.npz +++ b/data/episode_028/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7ed7796c363c9a69628867e8b18fd18c425fd60cd4165192105cbd32ce0812dd -size 203018 +oid sha256:ebe3a202d6c197a0f6934fcb19f3bd5387f8c71a12cb45aff93ebae3e5cd9287 +size 124447 diff --git a/data/episode_028/meta.json b/data/episode_028/meta.json index d626301d0f4673464ce875032ed574dee6b59170..db2d838b2f38b96b6d7886a8ae317ac74b29cdf6 100644 --- a/data/episode_028/meta.json +++ b/data/episode_028/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 17:00:35", - "n_steps": 628, - "duration_s": 15.585153579711914, - "fps_actual": 40.29475852053864, + "created": "2026-09-20 10:08:22", + "n_steps": 369, + "duration_s": 9.828971862792969, + "fps_actual": 37.54207511742191, "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_028/sim.mp4 b/data/episode_028/sim.mp4 index b5e0620ef70848830daefb364e83ee08fda11df5..fa0799e894b53dcb3fc53a3123e8233b3d201258 100644 --- a/data/episode_028/sim.mp4 +++ b/data/episode_028/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:73adf1ba307d9e4cb06a5020f34753c69acff96120dbcc87c28c680b58405061 -size 9687175 +oid sha256:84071cd6c036555cc11848abcb46e5d2aa6066cb2b5388cebbff4e79f22e56ff +size 6388239 diff --git a/data/episode_029/data.npz b/data/episode_029/data.npz index 06b4b6d7b6030abd09171f69245923e7d04df482..b457b8c674e159b69510b6cd7324ee71d99ee2df 100644 --- a/data/episode_029/data.npz +++ b/data/episode_029/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fcfb2124c333c3d8701339549f2382cdf4bc4e49e4505c820bf6a7ed8995cebb -size 161213 +oid sha256:7a8a8f21de3ef18d9ee03ffd4b6a152d3860c1ab7e304bf0cd772fc89408f3a7 +size 141285 diff --git a/data/episode_029/meta.json b/data/episode_029/meta.json index 9980bbb45bdefb2987c64f5c7ec36584dfb5bbe4..459cb4b7973e510a95daf682e66aacc20bce26df 100644 --- a/data/episode_029/meta.json +++ b/data/episode_029/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 17:00:35", - "n_steps": 492, - "duration_s": 12.245264768600464, - "fps_actual": 40.178796399861895, + "created": "2026-09-20 10:08:22", + "n_steps": 407, + "duration_s": 10.826634168624878, + "fps_actual": 37.59247737209673, "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_029/sim.mp4 b/data/episode_029/sim.mp4 index 775dc007dd3be4d40a5c2ffcd47c5f9b16053ae3..2202c63dc8586aa2f808579d230187749907e273 100644 --- a/data/episode_029/sim.mp4 +++ b/data/episode_029/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:94ac87379410e03fc23fb0c170dac1b98b05f6b164fc43eb2e425869981d69c5 -size 7916451 +oid sha256:21d0ac367c2203a984c12025552c6ebd5310d22ec3a358a2669bb996d6dbbca7 +size 7325495 diff --git a/data/episode_030/data.npz b/data/episode_030/data.npz index c4c16420633916ab7d578fcbff0720521ab836aa..0961dfb144e31139a37e077a9285c1fc1cd78f56 100644 --- a/data/episode_030/data.npz +++ b/data/episode_030/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:20ebbe78cfa6c8385484997f48283ba8ba3e455bf1ed7597bc89ef2df0f1eca0 -size 163211 +oid sha256:76f189da29343abd4f39ae5c12578ccf7b5e0941f28d6ce079274d33d5abc9c6 +size 121104 diff --git a/data/episode_030/meta.json b/data/episode_030/meta.json index 711808e7b8fcb8240e2ef0424c8d7c4c37f627ec..43fb7e0a15134462c9e9fadd2d74dcb780f7eb3a 100644 --- a/data/episode_030/meta.json +++ b/data/episode_030/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 17:00:35", - "n_steps": 476, - "duration_s": 11.790725469589233, - "fps_actual": 40.370713509334465, + "created": "2026-09-20 10:08:22", + "n_steps": 351, + "duration_s": 9.301278829574585, + "fps_actual": 37.73674635835573, "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_030/sim.mp4 b/data/episode_030/sim.mp4 index 0955b15d06cca95bbcd19c9edec4e24ea4a8a363..bb43aa40adfaca34c3205433666280ea619f1802 100644 --- a/data/episode_030/sim.mp4 +++ b/data/episode_030/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6a9fa99a1246460c0c4336a6b5cafd3914c4a09fb8997bd5495f9eaa7983c4dc -size 8263493 +oid sha256:fdca0e3096cfea8548230b669169fb4ee08bdfb7518e70306effbe0d71994055 +size 5815544 diff --git a/data/episode_031/data.npz b/data/episode_031/data.npz index b78d38f4a186ccb70552b2d808aa82373a9ee820..7165069f98a38277e371d963fa9af477b0f75deb 100644 --- a/data/episode_031/data.npz +++ b/data/episode_031/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:acfde50566aca7149a1ded8d34216e966b1861a39189a1e94092be82c3d82d71 -size 189251 +oid sha256:645448789a8df6252c5e933c591f6189386c4544466e3b06d7f941115d658a7c +size 129297 diff --git a/data/episode_031/meta.json b/data/episode_031/meta.json index 9f9010b6da551cab5c30664b53645336abb049b8..1e7195f082d59d64497cf6dfaed89266427d2859 100644 --- a/data/episode_031/meta.json +++ b/data/episode_031/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 17:00:35", - "n_steps": 554, - "duration_s": 13.539791345596313, - "fps_actual": 40.91643555350527, + "created": "2026-09-20 10:08:22", + "n_steps": 366, + "duration_s": 9.672404050827026, + "fps_actual": 37.83961030543442, "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_031/sim.mp4 b/data/episode_031/sim.mp4 index f02bb544b7fb22f78b59e40fffd401066bf75d8f..33f9529a0702025ac11735dd8536f5b861374863 100644 --- a/data/episode_031/sim.mp4 +++ b/data/episode_031/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:88cb8483512356492bf05960b0c1e5e539e1eba363bee40aead7ab3ec9367a57 -size 9976400 +oid sha256:e12f1ab1c988c18a0fd63d9987dd7725c4e2ce8459c668665094e16126ee22f5 +size 6974348 diff --git a/data/episode_032/data.npz b/data/episode_032/data.npz index 282c795be3e8cfe540ceeea2300f93372b8663f2..f1d2b9f62ae223402f5aab0a2011175317596112 100644 --- a/data/episode_032/data.npz +++ b/data/episode_032/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:03cb1e3c3bffae84c07b417d287a31313eba374a24bd9f4f27158ff5a0d03c91 -size 226808 +oid sha256:88531fe101e5e8aaa54e04fdc17cfdb150f72d5052ffa72f1229910ce51f3b34 +size 120478 diff --git a/data/episode_032/meta.json b/data/episode_032/meta.json index c0a3657f49d0060c2fcc58427b6cc12fcc847e1d..2c8392ca0add1e46139304f4f4e3b38642f7e4b0 100644 --- a/data/episode_032/meta.json +++ b/data/episode_032/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 17:00:35", - "n_steps": 703, - "duration_s": 17.542747497558594, - "fps_actual": 40.073540367484384, + "created": "2026-09-20 10:08:22", + "n_steps": 356, + "duration_s": 9.419442415237427, + "fps_actual": 37.794169156351984, "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_032/sim.mp4 b/data/episode_032/sim.mp4 index cce2882da0fac892c267c26bccc7f82c46bd8eb9..69b69399e6f9d1d244036be3b7555b2002b223a7 100644 --- a/data/episode_032/sim.mp4 +++ b/data/episode_032/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:94dce1daf60bfcd645234a98d86230b8fee01df30a9153c0bcb985e65ea8a32b -size 11389257 +oid sha256:b11be773645b5f6fd059b5a3f87bd17adf154183a94a0f833012cd9d59e2f41d +size 5730124 diff --git a/data/episode_033/data.npz b/data/episode_033/data.npz index ee8debbc508f13be4986d8625382d6aa7d732ca0..95c0e3b6c03036c2a83d4bd4375551d6a18a92b2 100644 --- a/data/episode_033/data.npz +++ b/data/episode_033/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d64393089516153dfc00bf076bdc2299982769edb8fb461bf5c07ccf3f2ca7de -size 171820 +oid sha256:9bba86fcc37c68e5c4e55ebd559418308b519551991013750db8f55158318d99 +size 159377 diff --git a/data/episode_033/meta.json b/data/episode_033/meta.json index 840ec6ae30906b0195261f88ced419f9674bc798..a49866da93444f2a8a44094c4045136856d06102 100644 --- a/data/episode_033/meta.json +++ b/data/episode_033/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 17:00:35", - "n_steps": 514, - "duration_s": 12.685633897781372, - "fps_actual": 40.51827477773065, + "created": "2026-09-20 10:08:22", + "n_steps": 492, + "duration_s": 13.134931802749634, + "fps_actual": 37.45736996495147, "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_033/sim.mp4 b/data/episode_033/sim.mp4 index 50dd7350801229d5b3c5186dd790d6a223843e80..25e0c70a4871cd891793a39806754831b6b95dd0 100644 --- a/data/episode_033/sim.mp4 +++ b/data/episode_033/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f5083775bd1cd4a14b998a217fa7e380cdd0fe4a523e14e6a15c7e9adc654143 -size 8556109 +oid sha256:9e365877820a49d48cd52c2b8f6f8a68b9afef1116b1e6626153f8fa7fdce304 +size 9039912 diff --git a/data/episode_034/data.npz b/data/episode_034/data.npz index 0ba82d4562d56470c295248fa2ff087115b6b735..31b47f0711dfc3a8f6c81125b0cf3ef4c12fbde5 100644 --- a/data/episode_034/data.npz +++ b/data/episode_034/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4341aa53b3a5c374080aa1b3fe91611d73fc982efea9e807bf61f4c599cfdf02 -size 191735 +oid sha256:eb4f74477bfc51d8cb590a0da8202b2501fac3aeced60365d1971138055fc74b +size 123450 diff --git a/data/episode_034/meta.json b/data/episode_034/meta.json index feb56adf11863a9974536fa69f6b803c1748c1f2..002bee82483ff0c39e720661498dc098bbbae85c 100644 --- a/data/episode_034/meta.json +++ b/data/episode_034/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 17:00:35", - "n_steps": 567, - "duration_s": 14.352487802505493, - "fps_actual": 39.505346236979186, + "created": "2026-09-20 10:08:22", + "n_steps": 371, + "duration_s": 9.886436700820923, + "fps_actual": 37.52615944723481, "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_034/sim.mp4 b/data/episode_034/sim.mp4 index 15763ffb8771885ebfda941c10a2387ea7c3c62e..777898efa767a64b3c5f5cf404f0f92e7bd08ed9 100644 --- a/data/episode_034/sim.mp4 +++ b/data/episode_034/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:38fdadff91a1f504c434824d00dec580935bf02a216b4fe67a60b9229cb0b849 -size 9951594 +oid sha256:7e60e243ed8f1d21ff89f718caafc0219a6b631c929a70fa1df553a9662bb6eb +size 6406135 diff --git a/data/episode_035/data.npz b/data/episode_035/data.npz index b0dcee6ad4ab03e9802d78d6419747747ffc5594..4621519fb5c6b7ed636c389746befd35db33ad71 100644 --- a/data/episode_035/data.npz +++ b/data/episode_035/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:404debcf3ae6b9bbcac15636c1056597d791aff79a147a4e0806b2c50b96c7d6 -size 246826 +oid sha256:7cf6ac806d4f0d1ee5909539efec3f95257bf6da86a5c48ace8265c4f57b46c8 +size 176836 diff --git a/data/episode_035/meta.json b/data/episode_035/meta.json index 3f2fa374b496d29d719dabe4e8d0cb484abc2a14..d76947318e14dbbe7f2d1b4c1e5ac196e45e9707 100644 --- a/data/episode_035/meta.json +++ b/data/episode_035/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 17:00:35", - "n_steps": 741, - "duration_s": 20.707130670547485, - "fps_actual": 35.78477442333194, + "created": "2026-09-20 10:08:22", + "n_steps": 525, + "duration_s": 14.297577142715454, + "fps_actual": 36.71950812082066, "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_035/sim.mp4 b/data/episode_035/sim.mp4 index 688dc201223f14bad00d38d55c4375b41561abae..8043b18d3b167915456258f9a5201b2131f91f02 100644 --- a/data/episode_035/sim.mp4 +++ b/data/episode_035/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:39d75626500f89dc049a82c1ee121cb7fd0d027231d73bbaa4446368f0ef9d2b -size 12856690 +oid sha256:e4fc9d2b6fcf194c430830a9e19d146d2427587f9f97b40195f58b38dcc0ddba +size 9012639 diff --git a/data/episode_036/data.npz b/data/episode_036/data.npz index 7ed2c7c864a5e7cb3840f13268d86ef2f6593d38..daf38fc3ec7705322f36f28e8586c6ef3e1e1fb4 100644 --- a/data/episode_036/data.npz +++ b/data/episode_036/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:103ffb9d77c9334ff99d7f661567b16e0755ab539fed995997e8c7d1b411466f -size 225356 +oid sha256:e5e7147dc7b004698c70ca3f718d829afb1d3447824acdcbe2a4f287947a9ea9 +size 124663 diff --git a/data/episode_036/meta.json b/data/episode_036/meta.json index 6969dfdeb838afa91ed59fefe9dbc77778f5a8b7..1244604c75fd91b26c7ef850f9fd6869b3f9ab0c 100644 --- a/data/episode_036/meta.json +++ b/data/episode_036/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 17:00:35", - "n_steps": 675, - "duration_s": 16.835760831832886, - "fps_actual": 40.093228143495416, + "created": "2026-09-20 10:08:22", + "n_steps": 373, + "duration_s": 9.872703790664673, + "fps_actual": 37.78093700660779, "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_036/sim.mp4 b/data/episode_036/sim.mp4 index 0c54b6df6ac2edfe4de1eb87ad19e89663e2f1a2..ee2db2e22b574d97d13c0c5bb7272f6a88e6f3d5 100644 --- a/data/episode_036/sim.mp4 +++ b/data/episode_036/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b0ca66c1e582af7bba6d6cd6f277bf4f8fc653f5e5294054d7c9fdf892e0e9d6 -size 11614166 +oid sha256:f836aea3dcb77c8db617a71f02dbc34662ed5c9f06c28ac6c92566a78710bd72 +size 5964156 diff --git a/data/episode_037/data.npz b/data/episode_037/data.npz index fa52101d65ec53c12ef8f68dfc48440b893c9288..c4d40d6efffabfa450c186c373c0d949a3ef6afe 100644 --- a/data/episode_037/data.npz +++ b/data/episode_037/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5c3a91411ff34ec5208a8769c16e3cc9b9f6edf1ff54083af54d79230fdc5d13 -size 172065 +oid sha256:4dfad20a2d111735227f12b5c5985a51e9838db9c461435f95fc208b6033b1cd +size 102035 diff --git a/data/episode_037/meta.json b/data/episode_037/meta.json index bdb28dba6d825a3142a6729354b023c1c1b6611f..5ba150b323760e903ee9c946872953a92063eb51 100644 --- a/data/episode_037/meta.json +++ b/data/episode_037/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 17:00:35", - "n_steps": 501, - "duration_s": 12.506627559661865, - "fps_actual": 40.05876065390287, + "created": "2026-09-20 10:08:22", + "n_steps": 303, + "duration_s": 8.046671390533447, + "fps_actual": 37.655321721782514, "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_037/sim.mp4 b/data/episode_037/sim.mp4 index de6302b03a78d17fe73cbac2830e3fe06ee2fff9..7aa088db12e7134a4fee9b182ce8f3cfb230bf05 100644 --- a/data/episode_037/sim.mp4 +++ b/data/episode_037/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:34222134254faf5168b2be1c9d0b6407eebcb869efdefb1dfce4acddfaae04d2 -size 8997137 +oid sha256:d4c42da8239fb011770fd75bd3d56762b128777040040916dfc7c40ab38a4ec1 +size 5227922 diff --git a/data/episode_038/data.npz b/data/episode_038/data.npz index 64bb5d48b44d0cddf29a3a16142a6472179f8b7e..5be889de2c135cbaac18d33cdb8134ed6892f2c4 100644 --- a/data/episode_038/data.npz +++ b/data/episode_038/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:113fe3b9570e13a6f39b30d0fbd0d65dcbac675fcfb179b46d9b9ff78abf091a -size 202574 +oid sha256:7cdbea182ced77c792793782d785df00a2f222165684f9173125b3cbea8d128d +size 116018 diff --git a/data/episode_038/meta.json b/data/episode_038/meta.json index de7bda806894eef8c3dfce87eb60bf6307b151d3..ca86f37507ca97941dd494b074d42fe0c153b764 100644 --- a/data/episode_038/meta.json +++ b/data/episode_038/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 17:00:35", - "n_steps": 633, - "duration_s": 15.715177774429321, - "fps_actual": 40.27953161497002, + "created": "2026-09-20 10:08:22", + "n_steps": 337, + "duration_s": 8.958688974380493, + "fps_actual": 37.61711127194301, "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_038/sim.mp4 b/data/episode_038/sim.mp4 index d7f0c348156721e4f2c417376cc3ebebbede9c2f..9bb014f335f49358ddc91c5dce31a31924c399bd 100644 --- a/data/episode_038/sim.mp4 +++ b/data/episode_038/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0125b1e425776a646112e21f245348e8701c84bfb12bcab8041e388a3be862a5 -size 10664137 +oid sha256:f4778175cc6516852d708a3ef55c96959ff66fadf35711ba8433bd229a459f99 +size 6155553 diff --git a/data/episode_039/data.npz b/data/episode_039/data.npz index 3d04db6e0e121391890cfef0586336b52a4be51b..54f838d32b8865ab90cf410558afca94d66790cf 100644 --- a/data/episode_039/data.npz +++ b/data/episode_039/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:55fbc5133a77511301a2f94966a1317463c060e127c228e208d6f1c9127b9922 -size 155896 +oid sha256:8d484c97b0f4ee6144ed31654e7403f6d54e87ee88f164199d821ef04cd2fdb5 +size 137689 diff --git a/data/episode_039/meta.json b/data/episode_039/meta.json index f38324a0657c3e4605049dd3fd256178aa55fb48..177086625e1038f687769a6338881426d3f01151 100644 --- a/data/episode_039/meta.json +++ b/data/episode_039/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 17:00:35", - "n_steps": 455, - "duration_s": 11.592030048370361, - "fps_actual": 39.251105984146854, + "created": "2026-09-20 10:08:22", + "n_steps": 394, + "duration_s": 10.504487752914429, + "fps_actual": 37.50777851025494, "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_039/sim.mp4 b/data/episode_039/sim.mp4 index 3ca0f5dbeb391ac12fa4e3b4541e2962d3ddd4b0..970f94a081dc7435f336f7e7c7c1c85c8a5559ee 100644 --- a/data/episode_039/sim.mp4 +++ b/data/episode_039/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3733e2b7b01ac7eaebac0c0906bd54790fbb986593c30a8b0180ec5d98df307f -size 8551265 +oid sha256:5548ff15b560e8a59b04a10310c8b01608d978355524f93688478075d6d5f887 +size 7025854 diff --git a/data/episode_040/data.npz b/data/episode_040/data.npz index a11647d6b0559f14b1cc6637fb3d903410294a46..d05626abeefb9eef0771b72c13c11dee9f051b62 100644 --- a/data/episode_040/data.npz +++ b/data/episode_040/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cf4c70fbb853903e3c08e00337456c8728861747e4bf754ead12425c0a2c9360 -size 171765 +oid sha256:f64714abb2e1eb3dc8b28efdb6b442abbfba7cb47d820fbce608b69024c302dc +size 124632 diff --git a/data/episode_040/meta.json b/data/episode_040/meta.json index caffe8b45bebf1c1d1bce1d93d6ea005829cb4d3..c85b9c8a7bf52ff1f609c0ec0c150bb4edc9268c 100644 --- a/data/episode_040/meta.json +++ b/data/episode_040/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 17:00:35", - "n_steps": 507, - "duration_s": 12.764345169067383, - "fps_actual": 39.72001644304042, + "created": "2026-09-20 10:08:22", + "n_steps": 367, + "duration_s": 9.938190460205078, + "fps_actual": 36.92825182507388, "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_040/sim.mp4 b/data/episode_040/sim.mp4 index 7e023a634033b02198e7e7e79bc7c93ae9c547f9..ca86063153b232852ed0abcd1b453f42b9f81ede 100644 --- a/data/episode_040/sim.mp4 +++ b/data/episode_040/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:04d5af4e2482f072e69b2f3282c46865cf0051580e4d717ff3acd2ae075565b0 -size 9359262 +oid sha256:f1cc4e7803368ec4866578c52572dc89cee0f961b520dee23823a7967f3cb2d0 +size 6012057 diff --git a/data/episode_041/data.npz b/data/episode_041/data.npz index 16f5309f56ca7471cefb2df2ec1d12ef7fa9d3f2..aeb5f39f8f4928cdcd422c491970669718577ff1 100644 --- a/data/episode_041/data.npz +++ b/data/episode_041/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:853b01b1c9d5f611d7af934d081c16c76c0b172bafb4c6fe7b52d22f4dd0ec3b -size 173338 +oid sha256:5651cb1f4685a7aab57eb250f7a44299b80b115e3f87db3dee33c25697bf9e8f +size 128185 diff --git a/data/episode_041/meta.json b/data/episode_041/meta.json index fce20cbae2a1c6f9c7ea3c4e28c9fb963bc7f72e..96c45bec8f15e4965d851aed7e86d0c00796bac8 100644 --- a/data/episode_041/meta.json +++ b/data/episode_041/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 17:00:35", - "n_steps": 519, - "duration_s": 12.832557916641235, - "fps_actual": 40.444002152288114, + "created": "2026-09-20 10:08:22", + "n_steps": 405, + "duration_s": 10.795140504837036, + "fps_actual": 37.516880842683754, "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_041/sim.mp4 b/data/episode_041/sim.mp4 index c9590c712c67235a1be33833758be09ac2a54562..17fa1ef3b227af2a25f259a696d61f7766d5004d 100644 --- a/data/episode_041/sim.mp4 +++ b/data/episode_041/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3372e3a6c3eaba37ec16b3df5750d2272db232233907d5d3eacd042a1f13e528 -size 9249774 +oid sha256:b2edbc6dac5d8841ab7c4a99ac801e5596901d99954d0fcef1eada945be8a337 +size 6463183 diff --git a/data/episode_042/data.npz b/data/episode_042/data.npz index 91b7d67d57f1a2ca4673d89b1babde3ebf43efd6..15c7fc33b0b6c62c5cac474242f14918d33d172b 100644 --- a/data/episode_042/data.npz +++ b/data/episode_042/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:53fd52e20d06b5c9574e553cd006c785877f8d53963daf13130219491b06248d -size 169948 +oid sha256:c73d74c5273745aa800d43c4025a56d25f4ce8156426467175635078feef2d47 +size 95875 diff --git a/data/episode_042/meta.json b/data/episode_042/meta.json index 521ca84bedab3eb8e74e40de689eaad44d2e3c54..edbe0762289cb2ddc9c4605434b77800b05e2bd3 100644 --- a/data/episode_042/meta.json +++ b/data/episode_042/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 17:00:35", - "n_steps": 494, - "duration_s": 12.215056657791138, - "fps_actual": 40.44189182576666, + "created": "2026-09-20 10:08:22", + "n_steps": 273, + "duration_s": 7.218728303909302, + "fps_actual": 37.81829548178962, "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_042/sim.mp4 b/data/episode_042/sim.mp4 index cf2fbcd763eec073593f46554b71240eb56849a6..4ddc854b027ae282d6c15cc7ce2e090d53919649 100644 --- a/data/episode_042/sim.mp4 +++ b/data/episode_042/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:48f0b27242476f9ad583901701673fb9534df70e39cf2ad27fdd34227dad769c -size 8954479 +oid sha256:9a4c351eb302b556ff9173085e7d78e0b219b69423719558e2c1e759e701cc2f +size 4811056 diff --git a/data/episode_043/data.npz b/data/episode_043/data.npz index 1bde4e4cf60e686d84b821775e7055088a9883b8..f7edf4308683cbc3896551217d1e84c99629791a 100644 --- a/data/episode_043/data.npz +++ b/data/episode_043/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:20c54977109d7173403ec4a21386907f4aa46ca6c1efde3081c16b5f5626be6a -size 174613 +oid sha256:e56b29765472f033cac9da792dbd1162a372a90c17d321474bfc47ff978d1334 +size 131070 diff --git a/data/episode_043/meta.json b/data/episode_043/meta.json index 4a2e7b2487992a4016412a44ccf628b76c7c3afc..78589a1bd269029d4e1165203aa356ddac6feb92 100644 --- a/data/episode_043/meta.json +++ b/data/episode_043/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 505, - "duration_s": 12.516317129135132, - "fps_actual": 40.34733179015377, + "created": "2026-09-20 10:08:22", + "n_steps": 379, + "duration_s": 10.06798768043518, + "fps_actual": 37.644066722141446, "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_043/sim.mp4 b/data/episode_043/sim.mp4 index 9422b43afa6dcaa5c926ea889ff40fc9ce819586..40cb0cb09085684cf03953d82bc3b771240d790a 100644 --- a/data/episode_043/sim.mp4 +++ b/data/episode_043/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:77a4f8cad35d1917824514819799ecf8c163f44505d678478d8c1caa9a8f8393 -size 9270792 +oid sha256:3eb5c703962db58a4677d035728e788bcdf963f97ed6b00c900769084137ed28 +size 6448677 diff --git a/data/episode_044/data.npz b/data/episode_044/data.npz index 498544e5efd62d1465bb4741fe5f7d48df315e32..9ef863fb84add1996fa9c684562f84ec2f91080c 100644 --- a/data/episode_044/data.npz +++ b/data/episode_044/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f47944acba422984704cee8a4670e3cca3b3f1e7c102e362fdefe91450df7614 -size 37373 +oid sha256:d68625393b8a5dbe5265a749d21631d3b18c9563fc023b9ab59d3c94a3b6bdb1 +size 120751 diff --git a/data/episode_044/meta.json b/data/episode_044/meta.json index dbbb82f765eb05ae3e6f4d32f2f5e8fb8f22dd1e..4948af6372308efbd7aefe699f006849df7f7165 100644 --- a/data/episode_044/meta.json +++ b/data/episode_044/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 99, - "duration_s": 2.499016761779785, - "fps_actual": 39.615580621193104, + "created": "2026-09-20 10:08:22", + "n_steps": 341, + "duration_s": 8.980536460876465, + "fps_actual": 37.971005572502264, "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_044/sim.mp4 b/data/episode_044/sim.mp4 index 066ed006ce276502d462f00e1615d32434dfe764..c8ca36eaca9df6e8c8666d4d56e5858dd416b7be 100644 --- a/data/episode_044/sim.mp4 +++ b/data/episode_044/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f97d822ede0945db4a45e3d2e4e058fb707d50f4726aade6f564f8e50c4c1f12 -size 2299053 +oid sha256:6f9977edb6a714da41dbdc3593df490403a916f97dd0997a36f7c900cf44e7c7 +size 5897251 diff --git a/data/episode_045/data.npz b/data/episode_045/data.npz index a30f13d8d1ca2a404a05a866715079488b533d15..1922cf4aae2f9490409ab3a760cc22e3d8a50d03 100644 --- a/data/episode_045/data.npz +++ b/data/episode_045/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f5685b00664ac7496c2a950ea6b84ec823843e269f20f9947a3814fffe69b8eb -size 134174 +oid sha256:94c7070218833f5b6e9317dc048ac9359dfb6805734601a342c9a9b10ab17086 +size 107157 diff --git a/data/episode_045/meta.json b/data/episode_045/meta.json index f851b6aa29f1f40c6a30030c440410c2990e67e9..67c0837d696a864ed2ef086f8d4ad15e9718a533 100644 --- a/data/episode_045/meta.json +++ b/data/episode_045/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 400, - "duration_s": 9.78771424293518, - "fps_actual": 40.86756009338155, + "created": "2026-09-20 10:08:22", + "n_steps": 304, + "duration_s": 8.00669527053833, + "fps_actual": 37.96822405850855, "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_045/sim.mp4 b/data/episode_045/sim.mp4 index e8f619d7d669359cc52e74a0a375f3f144876e32..4a7880e4ed501f690d873a188047ebf5a88b1412 100644 --- a/data/episode_045/sim.mp4 +++ b/data/episode_045/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7199c6b8facc168eff1ffee0d0cfa2f3b7bbd5bea061038e44c66e9e0517cf1a -size 6914412 +oid sha256:68e0f38e4c8bd69ad4ed3472af206f9f2207ab0189d6ba14ac8d13cb5ddcbd80 +size 5448493 diff --git a/data/episode_046/data.npz b/data/episode_046/data.npz index aa32cedda8a2adfb8e28f7c26878f260500e330f..cf9207c74c0b65d62a09c73364e12f11593519e3 100644 --- a/data/episode_046/data.npz +++ b/data/episode_046/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6d036f6b81a68a1575b8fe281649ad80bb205f6c910a97b1ef173664a0c97fa7 -size 187203 +oid sha256:0d97bb7871a52f7470d3f20229247f2175a4b3ac89ec5e2087ec1cfe61a65061 +size 114039 diff --git a/data/episode_046/meta.json b/data/episode_046/meta.json index b0a7f31f0aed5025580ed1256e562e522d675cc1..ee0b3df2b709ba2277c8076ed6a78a3e3bf19bc8 100644 --- a/data/episode_046/meta.json +++ b/data/episode_046/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 544, - "duration_s": 13.481135845184326, - "fps_actual": 40.352682907970646, + "created": "2026-09-20 10:08:22", + "n_steps": 348, + "duration_s": 9.310306787490845, + "fps_actual": 37.37793049607843, "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_046/sim.mp4 b/data/episode_046/sim.mp4 index edb24d4ab97e130c5b6758ce7c43321a29953599..d4aa76ca60ac1ec2e989668540622898c5457ff9 100644 --- a/data/episode_046/sim.mp4 +++ b/data/episode_046/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b92b8ec47daefb9b3888b6e18b7a40063e2cf743eb8e2f0f4ad1e7fb42b4638e -size 10101283 +oid sha256:2ac9a6164d0e6309fd478860818c45ec536c89a9fc75eb045464acb95293d1de +size 5473329 diff --git a/data/episode_047/data.npz b/data/episode_047/data.npz index 3bf16a393a267907a3e30e350e805082e0268ce0..9782e6f09cc13116fd776fc203d0930957aeb3ef 100644 --- a/data/episode_047/data.npz +++ b/data/episode_047/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0da0335232ca5f0e0809098cc7f13c672f98e9d9f236379abcc4d5f2dba927d7 -size 172939 +oid sha256:2042ae4356928feaa8a0c380a341d2c50237ad7a6cb6e151b743f1aed4578e8b +size 120901 diff --git a/data/episode_047/meta.json b/data/episode_047/meta.json index 61f764815cee68fe02da0ea7e7101afdef959070..2665ad5d6188bfb2764797cc3ef687ab4526fcfa 100644 --- a/data/episode_047/meta.json +++ b/data/episode_047/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 504, - "duration_s": 12.61827802658081, - "fps_actual": 39.942058570773895, + "created": "2026-09-20 10:08:22", + "n_steps": 357, + "duration_s": 9.495046854019165, + "fps_actual": 37.59855064315825, "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_047/sim.mp4 b/data/episode_047/sim.mp4 index 3898e5296f2f27647dce8554e89e1d22b8d46228..24ebab7da606102bbe93b3cdf628824b4a0091a7 100644 --- a/data/episode_047/sim.mp4 +++ b/data/episode_047/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:67376aae14790098e81bba22c54971566c0656fb8aa259367b36a89788352b3a -size 8834812 +oid sha256:656d8cf1a7b3993ea4c76481b5fdb8d2054699a5abbe990770a2158e5ece5f92 +size 5942478 diff --git a/data/episode_048/data.npz b/data/episode_048/data.npz index aef2b8d5759061a02281fb08a7e6bf1b37e32a6b..2bfbcc5ced2a6f02a915c10424a85b173a3e57e9 100644 --- a/data/episode_048/data.npz +++ b/data/episode_048/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:af36f87fb914a5e2592f1768a327accc6db93f800170ccd96a52264d0d1dc11e -size 216033 +oid sha256:60f807d74584f547d19bc0b83ca091de09a90592e9c59f8181004c5a97e562ef +size 135798 diff --git a/data/episode_048/meta.json b/data/episode_048/meta.json index be49a35ff9a59ec5fb50dd7bfed858f05218ac8c..1969ad9e778e22b5beb5586744c7b11523d5861a 100644 --- a/data/episode_048/meta.json +++ b/data/episode_048/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 637, - "duration_s": 15.641130208969116, - "fps_actual": 40.7259572351571, + "created": "2026-09-20 10:08:22", + "n_steps": 405, + "duration_s": 10.718402862548828, + "fps_actual": 37.78548028037932, "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_048/sim.mp4 b/data/episode_048/sim.mp4 index 748124dee1518df2c04c18c58010241733659af6..17af934c9199db119db6e39de5be4880554dca48 100644 --- a/data/episode_048/sim.mp4 +++ b/data/episode_048/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4ecdf4af5d2891c1279444b2f957f161adb8c8aa94d58596e4332f2c25243bbd -size 11632768 +oid sha256:8bff462dd7cdadb589808713725701f014f9feba0a8ffb877a98443f8bcf88b2 +size 6601387 diff --git a/data/episode_049/data.npz b/data/episode_049/data.npz index fd8586251ebf9d60059149990d8754232032276f..89bf074fa2b04820d948e84880de4a387d8831f1 100644 --- a/data/episode_049/data.npz +++ b/data/episode_049/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:52cf54b648dcd7046e5282a9ea79e3f8682301eb0ea3891c6a33023a45de9a43 -size 199524 +oid sha256:4c2effcf3badd0fc1936b9805412919ea94f22532e8525cf21d1fe973e631c1d +size 109594 diff --git a/data/episode_049/meta.json b/data/episode_049/meta.json index 4baed81a640f0f6613a4871e38550887499f73ec..4fd529f0b4e5c04a44c00b67a30680ff7b2a8065 100644 --- a/data/episode_049/meta.json +++ b/data/episode_049/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 577, - "duration_s": 14.328343152999878, - "fps_actual": 40.26983398141155, + "created": "2026-09-20 10:08:22", + "n_steps": 325, + "duration_s": 8.614333391189575, + "fps_actual": 37.72781772439851, "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_049/sim.mp4 b/data/episode_049/sim.mp4 index 54850d64e96a14834e9093a99e008bace3ad30cf..d2ba4e76998ec508649088f94a6efdd49d7d0d46 100644 --- a/data/episode_049/sim.mp4 +++ b/data/episode_049/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:29886754264fa8a36afc2ab2161f68f08cf9854a230024f0f581d93f4b79c124 -size 10066446 +oid sha256:35baef1577ca4e4c22e3cd8f975fee8eeed90fcc654abd758ede3f73d56c26cf +size 5291934 diff --git a/data/episode_050/data.npz b/data/episode_050/data.npz index b45fc47f00d130424e4d242029773c3ee1cbb758..097b299387f84da249131f83058fc1145cf6b2da 100644 --- a/data/episode_050/data.npz +++ b/data/episode_050/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a639f9cd3143227117949972d5777e3c137158271bd3d445d44346bf1de9bd76 -size 155478 +oid sha256:ca1b23e537824ac9a609f784c9edca952de1fa7c35aad76981d30f456303c015 +size 118713 diff --git a/data/episode_050/meta.json b/data/episode_050/meta.json index 8b0f7e846e043bc3ba22ee6732d1d50463e0831a..de1fa438db02a47a2132f5d83f64e8b57caf8c84 100644 --- a/data/episode_050/meta.json +++ b/data/episode_050/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 454, - "duration_s": 11.213093996047974, - "fps_actual": 40.48837904685461, + "created": "2026-09-20 10:08:22", + "n_steps": 357, + "duration_s": 9.456586599349976, + "fps_actual": 37.75146520886716, "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_050/sim.mp4 b/data/episode_050/sim.mp4 index 360182a618905ad216b9eb70d12a89a12f1daf11..d3cef36e90e5f818f2b8488691b0129018cae239 100644 --- a/data/episode_050/sim.mp4 +++ b/data/episode_050/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e7d9d3d54a9852ec89366bc5702a57492b9fe080f03c4996aff1ae7b387b515c -size 7999696 +oid sha256:3908f23c6913949900e7b31abace529c947bf2deb34e904634cc72b1d0524f3c +size 5956912 diff --git a/data/episode_051/data.npz b/data/episode_051/data.npz index a0fb25a9d3c2329a8dede4233272154e364241d9..7b9e4e783a77c89adc213b0f6fb4aedebb1fb976 100644 --- a/data/episode_051/data.npz +++ b/data/episode_051/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:426347178aedb1c27ab99fbd19794f3e2ba4a77ba1e0022bfae664b0b7e02344 -size 188915 +oid sha256:34328f308ebb46f79c4664a89306ec51f8f0f47d797ae5002a20b4c83ba7aacb +size 135321 diff --git a/data/episode_051/meta.json b/data/episode_051/meta.json index b1b42a4517c842a21876a2f51fe161e0b240466a..b75eacd23716e854e87abdb1b052fd510d6205c0 100644 --- a/data/episode_051/meta.json +++ b/data/episode_051/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 559, - "duration_s": 13.936908483505249, - "fps_actual": 40.10932558404853, + "created": "2026-09-20 10:08:22", + "n_steps": 388, + "duration_s": 10.26354193687439, + "fps_actual": 37.80371360943254, "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_051/sim.mp4 b/data/episode_051/sim.mp4 index 55c622f05b3d4bab0fb35a1511d063ba76a5f6a8..7dc8b8d2ff2a55c101a5c5905101d0ef2258bc4d 100644 --- a/data/episode_051/sim.mp4 +++ b/data/episode_051/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8088260f8b8297f115b3ad15f06d9dd96b7616c1977b0c633c459247787ba622 -size 9835638 +oid sha256:3157a38b76482f341733fef1a8a382dcbbb9cfa93defe73fa60ad34ae7132026 +size 7216915 diff --git a/data/episode_052/data.npz b/data/episode_052/data.npz index 8ff2746b79fe18de44330e9498e15cfcc2302e4f..c49ffdd5b877c9f22b1ede3ad5bc97f0da38e48d 100644 --- a/data/episode_052/data.npz +++ b/data/episode_052/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f1141bfa37e1dcd918c5e542ae9ddcbeee297ab8bca734401d9ae903e9f9d1f2 -size 165910 +oid sha256:8f059e34f8cd0e148f99b5a1e6f0f7ea0aaa8bccd1a6239699d36f3da13e8ae9 +size 113488 diff --git a/data/episode_052/meta.json b/data/episode_052/meta.json index 8b1c6069e164e08d04ab52e710d1a97725400d48..1635d05a38dbcf92ed2837875579e36c72da4a37 100644 --- a/data/episode_052/meta.json +++ b/data/episode_052/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 464, - "duration_s": 11.47296690940857, - "fps_actual": 40.44289534379204, + "created": "2026-09-20 10:08:22", + "n_steps": 332, + "duration_s": 8.87055230140686, + "fps_actual": 37.427207316882075, "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_052/sim.mp4 b/data/episode_052/sim.mp4 index da054a9a3917a918bc5e293ff52d098d58fa9f0c..e55c2dd71b63e38a74d4a335486091ba70f2c913 100644 --- a/data/episode_052/sim.mp4 +++ b/data/episode_052/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:335dcb7d658393342a7fb90e89fff32ee425dbbbf80646186ed7e32fcd48bad9 -size 8719387 +oid sha256:790fc025dcc628e77a4f9367a78bcaab77be3d0c6a79a51ad43beb3e4c114f8c +size 4990828 diff --git a/data/episode_053/data.npz b/data/episode_053/data.npz index f9997bd4fb938c09ac33164a597dd003fe067424..45cc73d2fdc369f10cd3a1a4ae6d8b7305ee8d89 100644 --- a/data/episode_053/data.npz +++ b/data/episode_053/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0898b1c44623f14d003860be5a047b7fd12c0169da75cd8ac86a882a393ac401 -size 148617 +oid sha256:b216ae4f8a0c486bbbfa1ff4e4f3cfbb84db40b53eb84b610175d0ccdd9678e5 +size 138818 diff --git a/data/episode_053/meta.json b/data/episode_053/meta.json index 17d2f15b2c45170b3efe73b82d94258f2c9c55ef..01332cd4f6ca5b35bfd85a695d37b62d5db27de4 100644 --- a/data/episode_053/meta.json +++ b/data/episode_053/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 431, - "duration_s": 10.587749242782593, - "fps_actual": 40.707424223689664, + "created": "2026-09-20 10:08:22", + "n_steps": 397, + "duration_s": 10.632261276245117, + "fps_actual": 37.33918774992748, "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_053/sim.mp4 b/data/episode_053/sim.mp4 index e21d49af4c222fa32eedb7f040e5b2ec719b60a7..72cb45cffad4ebfdaf5ea2df9df51cd1c50fdef0 100644 --- a/data/episode_053/sim.mp4 +++ b/data/episode_053/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:045f20f31bb9550163ae11af51750401517094847cd26074267b29fd32177d6a -size 7717531 +oid sha256:566cb3318057f0e68acd5477b9995fb0d78410dbe1dfa1a857ce71d06e0656dd +size 7400840 diff --git a/data/episode_054/data.npz b/data/episode_054/data.npz index a0e24ee5be6ecd15df1c08aa803efcf5a7faaf0e..4ef8417c4660b434ac232ba58feac2494aa4af54 100644 --- a/data/episode_054/data.npz +++ b/data/episode_054/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e1b2309b0f8e55efe4e9818903574c064f25e9ec9101cadbef9c67d684b1e45e -size 191814 +oid sha256:50a229f7a97d79560ea79c87497d5d62f6ecd5b2bf43d9579411f35fdd94a179 +size 124501 diff --git a/data/episode_054/meta.json b/data/episode_054/meta.json index ab6c78a24ee54c29116b1a334c2c51b70ad1487e..8b7abf52086b3d1f7f5e2118ca5fcecdcbeaf86b 100644 --- a/data/episode_054/meta.json +++ b/data/episode_054/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 564, - "duration_s": 14.106106042861938, - "fps_actual": 39.982685390728285, + "created": "2026-09-20 10:08:22", + "n_steps": 357, + "duration_s": 9.579668283462524, + "fps_actual": 37.26642608453287, "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_054/sim.mp4 b/data/episode_054/sim.mp4 index e5a5de2fc71bc87ff08b48380d09e843bba233a6..67466c7b13110a8f231948ef2135efcf89821101 100644 --- a/data/episode_054/sim.mp4 +++ b/data/episode_054/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6691abdf4254fc3024f699b3c1d9029d7082f1fbe4fa24475cd1653da035f7ff -size 10177677 +oid sha256:1153d2e85518a10b5d3fde6a54324a7b8717fcdbe21b765c6771beea1c178f8f +size 5842508 diff --git a/data/episode_055/data.npz b/data/episode_055/data.npz index 565dfe244c9755c4eb955887512741196de1f28d..665b217de4898f96530029642ac1de88f18a6676 100644 --- a/data/episode_055/data.npz +++ b/data/episode_055/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:883e47afc7081918e31c194818f14df57732bdcdc8aac20feb918d92278d61df -size 134111 +oid sha256:68aca5fd77afe81d8533269dc304e1386abbed4173370eb88fe76f8d3ef3d54f +size 119042 diff --git a/data/episode_055/meta.json b/data/episode_055/meta.json index 7d4f96ee093ddbe752c17a0b33cb0dd592bf4649..0a7a376b48d71f140b9af2bc652829e6dbadeb27 100644 --- a/data/episode_055/meta.json +++ b/data/episode_055/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 380, - "duration_s": 9.436004638671875, - "fps_actual": 40.271281601816305, + "created": "2026-09-20 10:08:22", + "n_steps": 346, + "duration_s": 9.191954374313354, + "fps_actual": 37.64161416715544, "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_055/sim.mp4 b/data/episode_055/sim.mp4 index 483fa9361dc88f2cffe35767422ceb91fd268341..8d4a7dfcd65f8237ccb271ffa6e9f2d8c5722788 100644 --- a/data/episode_055/sim.mp4 +++ b/data/episode_055/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cc0c8bfd7abefaeae503d1f3422a3f9bf527e6ac4752a4bd47e1458d0de665ff -size 7162125 +oid sha256:bebb651976563684ea7ca50e8b42619a79f44771224528f97ee9e9d920e445e8 +size 5823385 diff --git a/data/episode_056/data.npz b/data/episode_056/data.npz index a9b91c7a5792fa83459f18339c7ab83b94d20ecb..caaef38232b90e7a37f8d37d94e0350c5e984dc2 100644 --- a/data/episode_056/data.npz +++ b/data/episode_056/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2f61a35516b246ed8fdee9abc0554564af6aac86f1b10f8cab70b79a92de4086 -size 159695 +oid sha256:fd31f4c3c66e930397a16c61eac445e4eaa1f55b06091e0f3ba259a496c46103 +size 126759 diff --git a/data/episode_056/meta.json b/data/episode_056/meta.json index 49c15c675b785f3f9303f17021edc2d518ddf760..13af96bd44c068597e9e590ed09d0fb1bae827b2 100644 --- a/data/episode_056/meta.json +++ b/data/episode_056/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 461, - "duration_s": 11.43244481086731, - "fps_actual": 40.323833408037835, + "created": "2026-09-20 10:08:22", + "n_steps": 367, + "duration_s": 10.044764995574951, + "fps_actual": 36.536444621817985, "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_056/sim.mp4 b/data/episode_056/sim.mp4 index 7cca7d2f1d5d61ac665e5719aec8b28278b4c50d..98469a4f4d48cdabb2b9bc82f186392803d3889a 100644 --- a/data/episode_056/sim.mp4 +++ b/data/episode_056/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fa7f940daf49542cd2637dca019e9da3fd7054d0d31051c10e270bb77757eae9 -size 8471847 +oid sha256:9ce63acb33618fe2c3e31bf13373ffb3f4695c6f0e643089ed8d82d72f0c7ca9 +size 6680382 diff --git a/data/episode_057/data.npz b/data/episode_057/data.npz index 0d7ae2b17d237e4b5376125633d900a68da84bac..d3cd4e91f202a2bd58118442256f058cd8585d8d 100644 --- a/data/episode_057/data.npz +++ b/data/episode_057/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bfeae131ee040fc164fe303e1b0349450323de74f794270ee089a36996fc65ee -size 142092 +oid sha256:3d87c60c0a21db710d2c2176c68906d2844d74f9907e1e1cb2506c479ad0596c +size 142023 diff --git a/data/episode_057/meta.json b/data/episode_057/meta.json index caab432da7ec90e8162491c6e0bc59995c8d5972..55a1589d2b861e2cb116b6a4b2016021b6534633 100644 --- a/data/episode_057/meta.json +++ b/data/episode_057/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 400, - "duration_s": 9.938787937164307, - "fps_actual": 40.246356248760684, + "created": "2026-09-20 10:08:22", + "n_steps": 413, + "duration_s": 10.931172609329224, + "fps_actual": 37.7818569663354, "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_057/sim.mp4 b/data/episode_057/sim.mp4 index 6c999e9859199a666ec57f409b58c663e716925d..041f92b469a4b8c7ecffcb8492710e6953c93f36 100644 --- a/data/episode_057/sim.mp4 +++ b/data/episode_057/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e1543db1bd7bca0dd468083fc3642cb7f3c87aa25b77431ab516ecc4941ee4d6 -size 7682243 +oid sha256:a23f7d0bb658d51ab89f7d69a2ce4f65f292098ddffd9e0e0a10f5acc9872798 +size 7569259 diff --git a/data/episode_058/data.npz b/data/episode_058/data.npz index 29390f559358f5f1ffa5aaa30772d915c34ca5ba..f058472d24566793338df173a17ae070c76c8d01 100644 --- a/data/episode_058/data.npz +++ b/data/episode_058/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1b3f5d7af00ad196001e9fcfbc5465eb336c4c1123251b2b36c4d89f1c0c1924 -size 161973 +oid sha256:70a78d3501e0146f7fccba7e6a2d1323ca7b00f2d5a2ec79738b62364969cafd +size 124542 diff --git a/data/episode_058/meta.json b/data/episode_058/meta.json index 1209909729e08f7180a735f5a77e3f3c4bff8276..33aef73bef912b266542a7ef01803f358b0b0be4 100644 --- a/data/episode_058/meta.json +++ b/data/episode_058/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 466, - "duration_s": 11.44059681892395, - "fps_actual": 40.732140759404004, + "created": "2026-09-20 10:08:22", + "n_steps": 364, + "duration_s": 9.665295839309692, + "fps_actual": 37.660513040850425, "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_058/sim.mp4 b/data/episode_058/sim.mp4 index 1c676dd519c370b5e929a30d0a9b9761a7cf8371..7d6017d656c7cd36b9b558a93a52a55a46d4b35b 100644 --- a/data/episode_058/sim.mp4 +++ b/data/episode_058/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:40ce9b2d077e78a1b4488a4bb39aac79e7d6e9cb428654acef7b09f3b20b4179 -size 8903772 +oid sha256:841058e4dcb8b0b54093c6f895a25e2284f9fa3261f12ade0ed1de70d4f450b0 +size 6255484 diff --git a/data/episode_059/data.npz b/data/episode_059/data.npz index c5ba46aab4b1c2ee491e8a19600d4da84d9dff11..c12b55d4507b1d95c61de7a45d394e7427b09a0e 100644 --- a/data/episode_059/data.npz +++ b/data/episode_059/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2235bb1d8aa794390f58264146319892916daa320a4523ba497947513657a436 -size 161202 +oid sha256:1e74d298793614c84a3f8b5886678e686665c95faec600589460589f77ff9895 +size 134219 diff --git a/data/episode_059/meta.json b/data/episode_059/meta.json index ebb37c6209a4e2c904d5365fd1cea64223460c26..ef7ada035789b180a5605a13bde08f72d2e9e59c 100644 --- a/data/episode_059/meta.json +++ b/data/episode_059/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 461, - "duration_s": 13.264665842056274, - "fps_actual": 34.7539851730284, + "created": "2026-09-20 10:08:22", + "n_steps": 382, + "duration_s": 10.17646050453186, + "fps_actual": 37.53760944975758, "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_059/sim.mp4 b/data/episode_059/sim.mp4 index ffec3d9bface0b8265fe8f95132524ad8e554db4..6b23c22d45d0e2c398a87d152e5c375fc8a86dc5 100644 --- a/data/episode_059/sim.mp4 +++ b/data/episode_059/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:abbec2092a7b1417343ffcfa53bf3102c6d15f024527ccaebd3fe699c16c1874 -size 9084207 +oid sha256:5fc8ec2af83b03d4044c485e5be4215c08bfb71e593de1d241d10f4065dc6eb5 +size 6626083 diff --git a/data/episode_060/data.npz b/data/episode_060/data.npz index 694ea852a21ed228358dc533fc7e6f270c7476e7..024aaec5456245f1041705c62ebfa11adbd5e5ff 100644 --- a/data/episode_060/data.npz +++ b/data/episode_060/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:032e9230432bd9a9e1c926d4f28853431ac27289fb77021ecf5713cf32a0d9ac -size 198315 +oid sha256:e8e4032c335c5038aa492e5114d44b30daf76063b5cd998c573c4785164505e2 +size 122936 diff --git a/data/episode_060/meta.json b/data/episode_060/meta.json index 33993853e4156dc1d130813bbf1032a2ccf065cd..3a435d98a92290cb906fbf6e0748fcf8035e6e11 100644 --- a/data/episode_060/meta.json +++ b/data/episode_060/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 564, - "duration_s": 14.073203086853027, - "fps_actual": 40.07616436139405, + "created": "2026-09-20 10:08:22", + "n_steps": 352, + "duration_s": 9.309932708740234, + "fps_actual": 37.80908101188957, "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_060/sim.mp4 b/data/episode_060/sim.mp4 index ad16ff4c834c03310e7bb9d65972606244b62478..eb625698883fb4f33297197aba0217087b443b23 100644 --- a/data/episode_060/sim.mp4 +++ b/data/episode_060/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:256cddb2f031b715b38633e911bcb82f9be930677c40e218ef3f4a6477fdb2c1 -size 10454412 +oid sha256:cd606a70b65fa5288c97f4d9a9b5edbb4065db9995c3835e9ef16a933b9cd025 +size 6395149 diff --git a/data/episode_061/data.npz b/data/episode_061/data.npz index dcc8cee18cef45cc84752b87377cfa05efb28d6d..7855a4a6bf84bc37d3f0a6924909646c64bcb6ca 100644 --- a/data/episode_061/data.npz +++ b/data/episode_061/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4a936c114f1ada633528ecc3c27e42b691ef74324832d7b5bc0ca2a2a2e1f49a -size 185458 +oid sha256:89fb54e2bb540fe821929f8416a67ec813dab669e1a71aa829bc1d7d3b3cadb8 +size 118360 diff --git a/data/episode_061/meta.json b/data/episode_061/meta.json index ce6deb9e90392416843f31a65b8bf356e1d524ea..06af3a3b352ada1e827c4dd54c6371ef160d0179 100644 --- a/data/episode_061/meta.json +++ b/data/episode_061/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 536, - "duration_s": 13.098719835281372, - "fps_actual": 40.9200293418205, + "created": "2026-09-20 10:08:22", + "n_steps": 343, + "duration_s": 9.248732089996338, + "fps_actual": 37.086164531784576, "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_061/sim.mp4 b/data/episode_061/sim.mp4 index 1d9a0adebf7861f34052b4818c6e425655ff741c..ddbb66a858776c1807a8bc78e1efaacf97bfa8d2 100644 --- a/data/episode_061/sim.mp4 +++ b/data/episode_061/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:843cc693a2c65d01def2d46ffab2b6f8873acfcd20521421b90bf804da88bc52 -size 9756520 +oid sha256:0494fb079705fc68a569c3fba9feed8543fc3f7eb120af17c9bb043e113d4e25 +size 5597736 diff --git a/data/episode_062/data.npz b/data/episode_062/data.npz index facfc9a8a13fb5b11ab84a9d1dcff73326e4f76d..434b5fca1cd3df9717c3b6c6d208fe51300735bd 100644 --- a/data/episode_062/data.npz +++ b/data/episode_062/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:181ebde3a7968329d2763c9b20b73106e9e72f1313f7dee33e02bd408bc544a1 -size 147785 +oid sha256:b8a1ba453964a129fbe18d1985c464a347d16daa559daca51be4d70a232c99e1 +size 139330 diff --git a/data/episode_062/meta.json b/data/episode_062/meta.json index 1efefbed3e021aeb20e21e81f9aa150224782d9e..547ac2f5438ec4c041f168a3cbb6229c12c79025 100644 --- a/data/episode_062/meta.json +++ b/data/episode_062/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 428, - "duration_s": 10.706188678741455, - "fps_actual": 39.976878125625625, + "created": "2026-09-20 10:08:22", + "n_steps": 409, + "duration_s": 11.045682907104492, + "fps_actual": 37.028041040082236, "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_062/sim.mp4 b/data/episode_062/sim.mp4 index b9e8ac68d86366b43e480161b4ddd00e25054aec..a44128df90e247e83560c2bbe4923bfe75757a65 100644 --- a/data/episode_062/sim.mp4 +++ b/data/episode_062/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3701273ef081b1e4229d1f7c0fc30832ca9034249c62df5b7b6c430258e46629 -size 7877958 +oid sha256:d0fa6e754641e9b2e100f06c583cc25857398f98983ce629974f34fd2219316f +size 7167233 diff --git a/data/episode_063/data.npz b/data/episode_063/data.npz index 7009caf1fd5cf5731b4ea4b6474887947be01c23..a760b460a01cc852558c2f52ff073cb0057f83dc 100644 --- a/data/episode_063/data.npz +++ b/data/episode_063/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b048e01cb09bd4e9e79dd99810359416549d9e1f4dda6caf49d436e356cea714 -size 161667 +oid sha256:bb5457104d5d89f74a0d89237e2e4b3eba9dfa6b4ed3639d91fb7bed79b257a2 +size 129913 diff --git a/data/episode_063/meta.json b/data/episode_063/meta.json index f430c74c40cc5eca5cead0bec631d068a0046e99..5cb45704e5022342a9eed4838c49cef82d7a3254 100644 --- a/data/episode_063/meta.json +++ b/data/episode_063/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 460, - "duration_s": 11.294685125350952, - "fps_actual": 40.72712031321075, + "created": "2026-09-20 10:08:22", + "n_steps": 385, + "duration_s": 10.155264139175415, + "fps_actual": 37.911372340853866, "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_063/sim.mp4 b/data/episode_063/sim.mp4 index afb619827eac169cf3e210fd5e84bf9e6f6d82ed..14c99b2129c60a0453d6e6d93c7cad90528c8bdb 100644 --- a/data/episode_063/sim.mp4 +++ b/data/episode_063/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dcdc1f2848e5a5a1bd67d4ce2fe763a1532448d1b7468026b4a4e733d7146aa9 -size 8596230 +oid sha256:158c8be07ab85c5aebd8834d4cfc2530cc66d6a5b5029ab4332af20af0ae05c1 +size 6142914 diff --git a/data/episode_064/data.npz b/data/episode_064/data.npz index 529c936a1690cfaab670d8369979273a7d4652c6..14dd49f67c121e1b35bf6dae178838d6c66d7b62 100644 --- a/data/episode_064/data.npz +++ b/data/episode_064/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:092a1a1a0c17732a22b78143eaa5ac84c706e903853defd284ba373877b4f7c3 -size 200181 +oid sha256:52167dc03f7b279aaa4c03c4df0861f610efbb98c8d6559a45ec1a4f3ae57f86 +size 104134 diff --git a/data/episode_064/meta.json b/data/episode_064/meta.json index 7f2651940b2a2bca71ead6e598321a4c45945705..d9246c6067aed27a4e4479b22554c836f5cf5e02 100644 --- a/data/episode_064/meta.json +++ b/data/episode_064/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 584, - "duration_s": 14.582874774932861, - "fps_actual": 40.04697352293411, + "created": "2026-09-20 10:08:22", + "n_steps": 309, + "duration_s": 8.20920443534851, + "fps_actual": 37.64067546782709, "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_064/sim.mp4 b/data/episode_064/sim.mp4 index 6fdf18cc99fe0fb19b87529cc033d2f7e7a1a439..2445207ace74ee104492036cf75edf413e3245e3 100644 --- a/data/episode_064/sim.mp4 +++ b/data/episode_064/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0631ffa51fb538bff72b064e00b21cb5fcde6ed3b4de95e57d529273065db881 -size 9594817 +oid sha256:fb0ee9b57a459cc9b5acd29402a1ba5f44f27324c737ae4650eec0bc609da774 +size 5293378 diff --git a/data/episode_065/data.npz b/data/episode_065/data.npz index 227030ac4b7ea1a2b7d70b5accceaf70c9515b35..36c80c340db90cd8928e8b75669523250dafa366 100644 --- a/data/episode_065/data.npz +++ b/data/episode_065/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a4f267bf72e24e6dd9789c910dd650f9fbd9c468043cbd56da591c3f99d6766e -size 140129 +oid sha256:428ef777d76577db4f0f6bbc62f5898416adbc9a42ce1abaeb6b35d13e18db39 +size 105868 diff --git a/data/episode_065/meta.json b/data/episode_065/meta.json index 8a9616402721532d350335d473c5ea3402ab2ad2..58ddfa257db995c6eab401e8494bc7c66dde0c90 100644 --- a/data/episode_065/meta.json +++ b/data/episode_065/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 398, - "duration_s": 9.99880599975586, - "fps_actual": 39.8047526884428, + "created": "2026-09-20 10:08:22", + "n_steps": 314, + "duration_s": 8.33000135421753, + "fps_actual": 37.695071903081974, "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_065/sim.mp4 b/data/episode_065/sim.mp4 index ba582b4ee03cf80e2430226e3462364465956598..a5eaf1f697c2ad78bc30ffe4b8a385fdccb044cf 100644 --- a/data/episode_065/sim.mp4 +++ b/data/episode_065/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f669ef04fafe254e996802c8bf5aec5af1693a14dbb4e3c3f524194e98c24f1d -size 7389727 +oid sha256:f9d5abf6c4eedb4187dedb081f389376d891b33adc12b6b1404275cd3de553df +size 5382476 diff --git a/data/episode_066/data.npz b/data/episode_066/data.npz index 7adb1d1fa6a8685f6a70d4a44f1435d829f9c796..8ea920179e5a3f5e960cce7a85064ec4abf687c6 100644 --- a/data/episode_066/data.npz +++ b/data/episode_066/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4928998635ed77fc294079e4129f4b5a4ff8501f0017fc28ad4c2b84264caa4c -size 178843 +oid sha256:83836bc0ed4d8041ebd1289da2c5caf5ecbac894d8c8d5e5ad6f00fa0b506d32 +size 112063 diff --git a/data/episode_066/meta.json b/data/episode_066/meta.json index 4ed5aff65a7c7f7a6bdd9c2a880fc455bacb9b4b..5c8acd6263b8b082dc69844302885a56c09613d5 100644 --- a/data/episode_066/meta.json +++ b/data/episode_066/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 512, - "duration_s": 12.93125057220459, - "fps_actual": 39.59400501452904, + "created": "2026-09-20 10:08:22", + "n_steps": 338, + "duration_s": 8.884969472885132, + "fps_actual": 38.041773922971565, "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_066/sim.mp4 b/data/episode_066/sim.mp4 index b78d0624bcbcf1c988c9e62801e6bb5314bbfef6..4325500047adc7c93d4a5225788eefd733dff916 100644 --- a/data/episode_066/sim.mp4 +++ b/data/episode_066/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:be259123e2c1c034fb037d5814a37228d3f8cb4564c98aefdc256481868fc8fc -size 9744366 +oid sha256:4d1c91c257b29fd6ed801088dedc48789723c9f4b941258415b00366e3a7641e +size 5284505 diff --git a/data/episode_067/data.npz b/data/episode_067/data.npz index 9a642394890275fa71beaf0e45baade6dac9bce6..220f6b9a2a8eb4472c3883d30eaad8b91d39e3b1 100644 --- a/data/episode_067/data.npz +++ b/data/episode_067/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:da15204ceb9e20397aaf392edae51b37db08aae745b631ce3f63fc87aabe6537 -size 159289 +oid sha256:432a2bd527bac5abcc7fb503bd7e9ad611c4ebdb1a005a30de4a94dcaad02523 +size 100365 diff --git a/data/episode_067/meta.json b/data/episode_067/meta.json index b887a1ee7ff666f1e022237da68d3f83b31659f4..8c3becaf817b5407f21dfa5899cb3132e280e533 100644 --- a/data/episode_067/meta.json +++ b/data/episode_067/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 455, - "duration_s": 11.668685913085938, - "fps_actual": 38.99325111576932, + "created": "2026-09-20 10:08:22", + "n_steps": 292, + "duration_s": 7.740002632141113, + "fps_actual": 37.726085361707966, "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_067/sim.mp4 b/data/episode_067/sim.mp4 index 82b74975d73f2756f9855faed096fd0b06d77216..fcfd5b1be1011a9cd9d4d619cf5371e9b544269b 100644 --- a/data/episode_067/sim.mp4 +++ b/data/episode_067/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3e4585489a826bb93604d820f0c45f67c62367f1e008b8167c2c3a7f0c278974 -size 8798937 +oid sha256:76c3287130c601b8f0e7b2a8ec60f53949a6920db53ff3e2c1993fd8ee245e5f +size 4791377 diff --git a/data/episode_068/data.npz b/data/episode_068/data.npz index 5036a59c7f2a2e9af07a63caf0d44cb4fbb74864..0099ad9cec9ddf297ac2660f1baa28b05126bf09 100644 --- a/data/episode_068/data.npz +++ b/data/episode_068/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1c60c99eadd74dca4765733768703bed4aca0260c9a656e82023925a8a0f5f14 -size 142249 +oid sha256:7708d509bb2a405d81c320b9d0068368b4bb063a205f908c8d6cc675de6700b0 +size 115787 diff --git a/data/episode_068/meta.json b/data/episode_068/meta.json index aa84b6055fb23170721cdecf40fcf674d4cea13a..112814aa7fe4262e0792aadc17e29bd374097fc1 100644 --- a/data/episode_068/meta.json +++ b/data/episode_068/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 404, - "duration_s": 10.090555906295776, - "fps_actual": 40.037437357433724, + "created": "2026-09-20 10:08:22", + "n_steps": 329, + "duration_s": 8.732759952545166, + "fps_actual": 37.67422919991209, "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_068/sim.mp4 b/data/episode_068/sim.mp4 index 22b543a98acb9d93c0b2db7b24a00364c466b886..9d0a73aed9792c6982ab8f907779f3f537335c7a 100644 --- a/data/episode_068/sim.mp4 +++ b/data/episode_068/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f8c72e8293dc6c52d792b2f2c7e043fd718b3258fc6ccb8f0ee687249436933b -size 7631758 +oid sha256:9ba97000040ebfe54aba0f7a6a8bcebcc67a413f46f79ded3866cb64348c1883 +size 5545923 diff --git a/data/episode_069/data.npz b/data/episode_069/data.npz index beda1c67a3d726a04d3b1d1da6f9749e63f979c3..2cdb54efb38e92e1fa5295f4826b5224edcf8da1 100644 --- a/data/episode_069/data.npz +++ b/data/episode_069/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f18819d00836f7a955811c2f5dc1cb7cae097f353943553518553ce10396e7e0 -size 262220 +oid sha256:07c7e9213e98b9728374591b1530424c2d0a32cb7dddb8929a60e93085d4a0d4 +size 123359 diff --git a/data/episode_069/meta.json b/data/episode_069/meta.json index 2a0e87e1743426402133017e71fb251d17cb981d..17f4175cc2862118aada2d9b854ae86e1c17c0f8 100644 --- a/data/episode_069/meta.json +++ b/data/episode_069/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 762, - "duration_s": 19.05414605140686, - "fps_actual": 39.99129627453117, + "created": "2026-09-20 10:08:22", + "n_steps": 348, + "duration_s": 9.210583925247192, + "fps_actual": 37.782620822344924, "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_069/sim.mp4 b/data/episode_069/sim.mp4 index 438e7511bab65892feaab6834b3545bdf13bb26f..1be1d52979c945ff592928b29e3bcee15571eec2 100644 --- a/data/episode_069/sim.mp4 +++ b/data/episode_069/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9767e5a996f89f82a7fbce50000b41f128315cb2becc08a7da1f695fdcfc082e -size 14037231 +oid sha256:ce4efd25e722f2ee0fa2f6d49c8551c0d3211918f934567904fc3c21a4d637fe +size 5685452 diff --git a/data/episode_070/data.npz b/data/episode_070/data.npz index 96c6f9d80d36e6a5e2a08945aafcd7e369852447..6df907441630487d22eb2df534e9f9159ac04eab 100644 --- a/data/episode_070/data.npz +++ b/data/episode_070/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:694414c08cdcfd0893b4259d0b0437412e4352d618cc80ec9d784bd3c2270092 -size 190999 +oid sha256:30c7c37531f587501702ec0d0dc20d4ccd5bf61b9642b6c3b832fc5b109cda50 +size 136035 diff --git a/data/episode_070/meta.json b/data/episode_070/meta.json index c032a5e09eeff51e7ce254d73012c50a2bfa8581..e75919f2cde50b18d94e3eadeede2df82cc512eb 100644 --- a/data/episode_070/meta.json +++ b/data/episode_070/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 556, - "duration_s": 14.088825702667236, - "fps_actual": 39.46389938621645, + "created": "2026-09-20 10:08:22", + "n_steps": 413, + "duration_s": 10.9462411403656, + "fps_actual": 37.72984668472286, "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_070/sim.mp4 b/data/episode_070/sim.mp4 index 1aad178d8243aedccb97a10c6b739dee24940351..72f4ba97d129ea5d486641692e7a9271fed89dd3 100644 --- a/data/episode_070/sim.mp4 +++ b/data/episode_070/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a953d8d537fffc88c7eb5da90229aa9da995a69455f5fb0a30b0eeac7c4aa177 -size 10422349 +oid sha256:c669739ef6a8ee14eb05f2af050d84d132f070b2f08acacc8d66ccaec5857116 +size 6368258 diff --git a/data/episode_071/data.npz b/data/episode_071/data.npz index cbc708f0b88762eee865f512e9837241a1f5d6a8..485e6b45d4642de1eeb6fda8e920da362d7e4de5 100644 --- a/data/episode_071/data.npz +++ b/data/episode_071/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4cc599a415108bbc4ab85a0d26d88de911a9e5fc334626570119a02966039700 -size 131335 +oid sha256:f71364d4e5afffc322b0119d446943f57e8449dfa2c89fa240dc6885f187be46 +size 113998 diff --git a/data/episode_071/meta.json b/data/episode_071/meta.json index ec5818d549ab88c33227f9e493fd55a3949e375e..36b2f12e2027f4513c33015890bce53810d1e47e 100644 --- a/data/episode_071/meta.json +++ b/data/episode_071/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 374, - "duration_s": 9.101497888565063, - "fps_actual": 41.09213720412834, + "created": "2026-09-20 10:08:22", + "n_steps": 336, + "duration_s": 8.974416017532349, + "fps_actual": 37.439762023912536, "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_071/sim.mp4 b/data/episode_071/sim.mp4 index 8670d86e85e84c75a91f204b9cbf2f7c36394604..b707d503e0fe9582c09095fc081d663c6de04018 100644 --- a/data/episode_071/sim.mp4 +++ b/data/episode_071/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:49479d5025b60ee9accafac2012acad9d2f1cd2b01048c0ca9c77f19254ca410 -size 6945409 +oid sha256:752ece6e9ab27e542c29d21c7c63b511bbf2ed861164d3a3e8a56b865e28a565 +size 5278103 diff --git a/data/episode_072/data.npz b/data/episode_072/data.npz index 775051b1226121de3c0717f40af41c438e86aa71..0a52da3acdc2d83300cf8f3d26239f059f391837 100644 --- a/data/episode_072/data.npz +++ b/data/episode_072/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f4a5378aa68f0ea5fbd7d2633559cedc309bfd6a0cac09c24229e2f3513ff2c -size 182822 +oid sha256:58271719819748b1d3dc3fe2f15e595c603ba99595f518b62c9ad210ea44beb7 +size 129302 diff --git a/data/episode_072/meta.json b/data/episode_072/meta.json index 99ccd6b33b939e5ad9e12c94a448263e66cb82d8..6723e71db61b06d562639a1c6e4d91b18ffa7ed7 100644 --- a/data/episode_072/meta.json +++ b/data/episode_072/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 534, - "duration_s": 13.246779918670654, - "fps_actual": 40.31168353958644, + "created": "2026-09-20 10:08:22", + "n_steps": 376, + "duration_s": 10.012265920639038, + "fps_actual": 37.55393663934983, "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_072/sim.mp4 b/data/episode_072/sim.mp4 index dae92259ea32be404333029e1f1080db11653444..138ac72d9a8adb1321b656b9884ee0ef938cb871 100644 --- a/data/episode_072/sim.mp4 +++ b/data/episode_072/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dd47319609d8c274217523a5e9f6c23425226c5330326b022bdc58ec769e7226 -size 9710573 +oid sha256:443449b9250e16767860f7647bce174178133a5ce16698dbfecc8db6346b38e5 +size 6612459 diff --git a/data/episode_073/data.npz b/data/episode_073/data.npz index 8255a905e3840370a698df2d9a05cb25de424648..d7c2e9d2dce42f364c17b131027aa8480e59f9d9 100644 --- a/data/episode_073/data.npz +++ b/data/episode_073/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f8376607beb000dd5a0a2b4f27ec74418cf4dfdc0b032adbe7d04c709c5ea8c2 -size 202943 +oid sha256:04f5a721c7baf5b1a2bacb54df7fdf39f298749176d5ba340eb6f472716a4ab2 +size 121347 diff --git a/data/episode_073/meta.json b/data/episode_073/meta.json index a06476cf3055415e00b872a3f98de5cef4868296..36a86ab671579426199fc53f322475b356c850d0 100644 --- a/data/episode_073/meta.json +++ b/data/episode_073/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 575, - "duration_s": 14.121504306793213, - "fps_actual": 40.718041612846704, + "created": "2026-09-20 10:08:22", + "n_steps": 355, + "duration_s": 9.377378940582275, + "fps_actual": 37.85706029897911, "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_073/sim.mp4 b/data/episode_073/sim.mp4 index 99a24cced5600afbfc90612568e539955a68922d..757fbcd0b3458ca44d266ad16c4a448ce95e71fe 100644 --- a/data/episode_073/sim.mp4 +++ b/data/episode_073/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f33a1cc0c4c32ef5957d2b7f0d7c1f3421cdf5bc23da14c70ff542844e59575a -size 10761456 +oid sha256:c83abde3a38409e24d94a6ee749427a1841c0fab8145177e4aa395978ab66224 +size 6400264 diff --git a/data/episode_074/data.npz b/data/episode_074/data.npz index 9fa773139a4d47e905a99b2aed1f07499ff33e04..19633ee964452c2cd097581a6657071cb8981eb5 100644 --- a/data/episode_074/data.npz +++ b/data/episode_074/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:25ba02e1d62fffb0eb1815ac5790e1d0b293ef4ad1ce8ad8af2b520c9052ac3c -size 169610 +oid sha256:ce856cd4f167634675bc8f1ac99bf185b0fa43f9fee4d92df0aa9f24efd1256e +size 140169 diff --git a/data/episode_074/meta.json b/data/episode_074/meta.json index 5ddb5ed40be4ad83ce1337a37ef46e5f8c1f6d4b..918737ad0f1aa1143bcf846520ec90125bc0eb84 100644 --- a/data/episode_074/meta.json +++ b/data/episode_074/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 501, - "duration_s": 12.254345417022705, - "fps_actual": 40.883456680113895, + "created": "2026-09-20 10:08:22", + "n_steps": 434, + "duration_s": 11.51520037651062, + "fps_actual": 37.68931376003657, "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_074/sim.mp4 b/data/episode_074/sim.mp4 index bb5e74944f55b1cb6b97c214faa5404b91ff40d6..0533e6838f8ea942de369495441c58e0c9aba319 100644 --- a/data/episode_074/sim.mp4 +++ b/data/episode_074/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8dacda5db8d584206bc9a518e74089244bfd7a8d15b043d88684ebf1c8ab58c6 -size 9064014 +oid sha256:5380f448f6cf6cb331a0009643936ec89ae2b3d681132a46e89726afcd9e008c +size 6597562 diff --git a/data/episode_075/data.npz b/data/episode_075/data.npz index a0419f58913fe96c585684a6905f541b8249bcb2..2d3400a40edac28b7efd01662a4737e7d1fb903d 100644 --- a/data/episode_075/data.npz +++ b/data/episode_075/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f64134d4f4151b8a3bd5e9d47c45b63aef0d3be04aa40873b864d42f6c53fb3b -size 157736 +oid sha256:1529c14dc32287bbbab58841930b11984a875b54bad8ef10f4c3977b929e3750 +size 145282 diff --git a/data/episode_075/meta.json b/data/episode_075/meta.json index 3e1cb0aa59703dd1d84eaf1cbd5afcd847c426be..2117de10b07ebc72ae1a1edde7dd55c9beb6f8f6 100644 --- a/data/episode_075/meta.json +++ b/data/episode_075/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 447, - "duration_s": 10.82646107673645, - "fps_actual": 41.28772983449773, + "created": "2026-09-20 10:08:22", + "n_steps": 424, + "duration_s": 11.335975646972656, + "fps_actual": 37.40304436109404, "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_075/sim.mp4 b/data/episode_075/sim.mp4 index afb588b6ba0a56504db1bbb3a6e8fea6c8d919a8..62a2715b89b659239cf0b9a2684d59fed026ce3f 100644 --- a/data/episode_075/sim.mp4 +++ b/data/episode_075/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:73e3603c8246701a67e146b1c3f0e5405467f783becbebd68d90e74e1f3128ba -size 8662329 +oid sha256:1818ab2522d58469d013e61f2d3bc3b13daed0d42cc496bbc28043e48e311ca4 +size 7154225 diff --git a/data/episode_076/data.npz b/data/episode_076/data.npz index fe61af0eea91cd79d4d8e1dc8a36319fe40626fb..0662a971268b0bb7641440284290ea969c8453a5 100644 --- a/data/episode_076/data.npz +++ b/data/episode_076/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:593b981fed8463731764f5ab1d57593e819a77198a284b6fc38a645d02a97504 -size 239712 +oid sha256:0135ea31e95eeca20eb9db1aa6d369744f93f1e761989d1ac9b16cdef48fe59b +size 98625 diff --git a/data/episode_076/meta.json b/data/episode_076/meta.json index fe00d87f1007dd22ace628ac97a6a1b365760af6..d1960224f984705048caed524a8f9e0f0becdc21 100644 --- a/data/episode_076/meta.json +++ b/data/episode_076/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 712, - "duration_s": 20.26689386367798, - "fps_actual": 35.13118511347393, + "created": "2026-09-20 10:08:22", + "n_steps": 283, + "duration_s": 7.48829984664917, + "fps_actual": 37.79229007858647, "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_076/sim.mp4 b/data/episode_076/sim.mp4 index dc295be2d0fae7b68b7298bbeedc5d551d2061ae..f08ce65620ee21e9480aa0788ae892301827d410 100644 --- a/data/episode_076/sim.mp4 +++ b/data/episode_076/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ccac81a1ada3d9292e868e1e86a086090ad84ccfd7f1eb2155515ba26e98832c -size 12788201 +oid sha256:074917c8b2b44079c6ffb939ca33f22c041cf35d4fbfc27af513d0c109a16c56 +size 4932423 diff --git a/data/episode_077/data.npz b/data/episode_077/data.npz index 4e6c0bc9934b203c439054c38593333b114d810b..66968b980dbaeaa98428a84b7586f77361ce6044 100644 --- a/data/episode_077/data.npz +++ b/data/episode_077/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b9a61b045072a4ff49311d274b2b4b2f58d37b7a861283d252b279dd735563ac -size 212001 +oid sha256:93dc52c37923f93c6b9f87986e25f24a57255d46a2f724cc353aee4910eaf954 +size 108828 diff --git a/data/episode_077/meta.json b/data/episode_077/meta.json index 0c0ff96b26613a03aced8ad38845772b0b45a49e..c8439694cea9a28369408f62d0dd10cf4f9455a1 100644 --- a/data/episode_077/meta.json +++ b/data/episode_077/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 615, - "duration_s": 15.587328672409058, - "fps_actual": 39.45512492391362, + "created": "2026-09-20 10:08:22", + "n_steps": 308, + "duration_s": 8.173936128616333, + "fps_actual": 37.68074464415195, "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_077/sim.mp4 b/data/episode_077/sim.mp4 index d20bccd33795fd16df5f6dd06a0dcc41a2be4078..39af1ffaf20d6c61e9b62ade7a3325dfb3f68b2c 100644 --- a/data/episode_077/sim.mp4 +++ b/data/episode_077/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:56f80d8a98fbe84d771a9159059e7f05880058d124875b310d3cc87b8750d978 -size 10224900 +oid sha256:8a190ada8fa66697955cd072784d402b6ad9bd86cf8d6d14fcc38f3e039cb4ee +size 5234189 diff --git a/data/episode_078/data.npz b/data/episode_078/data.npz index 885d14977b32cc59962e326e269efece55b6c37f..a823b2c363ddaf6b175b745f6d025b3e81045019 100644 --- a/data/episode_078/data.npz +++ b/data/episode_078/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:54e043fa191278a66c92e6e81e2693b465799cf003db914d9fbc2627848bf0c4 -size 143091 +oid sha256:2f5aa8533c6b2c81cf51e6faabfbe46919034ca07c77fb4191cd573ee25cca8b +size 146033 diff --git a/data/episode_078/meta.json b/data/episode_078/meta.json index 8f2bd28b324a43fa1d8017eb260e4f4d903e3086..d3e32d07b66ae64cdb2bf6615cc8c2995cbeb65b 100644 --- a/data/episode_078/meta.json +++ b/data/episode_078/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 409, - "duration_s": 10.60647201538086, - "fps_actual": 38.56136134681665, + "created": "2026-09-20 10:08:22", + "n_steps": 422, + "duration_s": 11.180320978164673, + "fps_actual": 37.744891298216935, "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_078/sim.mp4 b/data/episode_078/sim.mp4 index ed7b8a56e129e0f54dd1e506770da8834c1b63e5..1d10f9049ad200092addb8431b3d18411ac69789 100644 --- a/data/episode_078/sim.mp4 +++ b/data/episode_078/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:edd8377e4ecc1923f94ce46a64f627ac18d8b8bb0ca3369c78bd02a3f48383b5 -size 7146934 +oid sha256:3ff3370a326127539a54b9ee6324972f596c3bb1813a8af79b7de273930e8d4b +size 6829196 diff --git a/data/episode_079/data.npz b/data/episode_079/data.npz index 1d9d8c9247b48c5e760dc82649db4a2435479621..4722aa97889a915b2328144d098a3816e8547840 100644 --- a/data/episode_079/data.npz +++ b/data/episode_079/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c2c09cf0cf1fafb65105752af9bf259b1832f0976fa820acb6f84ad0f98b213b -size 183669 +oid sha256:ef107b62cf6e8c39440ccf6fe39d988056834bfeef22ccb92f7f7b520431a783 +size 176489 diff --git a/data/episode_079/meta.json b/data/episode_079/meta.json index 33961865b201d3cdf77d0cb4fdcf31cf276e35ea..d032284705bdfa859d68526a97a282b362a88287 100644 --- a/data/episode_079/meta.json +++ b/data/episode_079/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 520, - "duration_s": 13.739311933517456, - "fps_actual": 37.84760128572703, + "created": "2026-09-20 10:08:22", + "n_steps": 514, + "duration_s": 13.620556354522705, + "fps_actual": 37.73707817958011, "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_079/sim.mp4 b/data/episode_079/sim.mp4 index 87d3523ea0fe47a214a035579a7ce67e13d5c1f3..f97c61fe4ab785085e8591ec0bff0e59401f78d5 100644 --- a/data/episode_079/sim.mp4 +++ b/data/episode_079/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2151ae654724ec1db277cffbef5d2331477e1d77997c1239ec29927638c1e94e -size 9702928 +oid sha256:b36d39cbdf138870ac7f7d815aa8bc05ee40bdbd79eb44b90ed0c475c6aeb355 +size 7735759 diff --git a/data/episode_080/data.npz b/data/episode_080/data.npz index 1608fd44c4380ca82bbe4ca50597cf1bc16421d5..779d980ee43d0c364884c706a14402dc9b0ca294 100644 --- a/data/episode_080/data.npz +++ b/data/episode_080/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ad835a019bbe2148c01f87e0cd36bf6fc2b2fe2cfbfb609e381fa6ccddec86c4 -size 148907 +oid sha256:71166ffda1b8d95c94c70f1288f73dbd0837363a8594799496e4bdcafc9ca2c2 +size 116603 diff --git a/data/episode_080/meta.json b/data/episode_080/meta.json index bac2261b405847e18d1b15a2eb2a62bf3be43b3b..23dd3c982fe96c6f4c631894be6a21eeb3fe7214 100644 --- a/data/episode_080/meta.json +++ b/data/episode_080/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 428, - "duration_s": 11.21885347366333, - "fps_actual": 38.150065958588876, + "created": "2026-09-20 10:08:22", + "n_steps": 333, + "duration_s": 9.022007465362549, + "fps_actual": 36.90974556144622, "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_080/sim.mp4 b/data/episode_080/sim.mp4 index b25bf22d0d49407e4b33f31a94bb92a56ebdb2ed..538f63bee64f9e138846d42482b5e8bce1a93c34 100644 --- a/data/episode_080/sim.mp4 +++ b/data/episode_080/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2dfa814d24af0793bbb024f3aee063842cd382ed2d1fbde578fab2bf71c3659f -size 7684313 +oid sha256:fa13619310139a55370653f5fa1b10b552f21ce81c849f5a6aa5fb1a654fd180 +size 6167637 diff --git a/data/episode_081/data.npz b/data/episode_081/data.npz index 9e6e348b587de8414cfabfa869016612257a61d8..036b63eb51a04a45bcf2d8e7af91e7e7d3013809 100644 --- a/data/episode_081/data.npz +++ b/data/episode_081/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bf71e84787910797143583107838c62d4cd3e7855e593a27fca9e31e79606e22 -size 147363 +oid sha256:e96d9e88a4b366eb46e1c2fe53290e4b49652e3def36c62ffa7d2dcbdbb4e8b5 +size 115252 diff --git a/data/episode_081/meta.json b/data/episode_081/meta.json index fe0b0aacc356b88736d83fee90bb225d5ed12eed..2afe934b6479c25f4fd5ea9a63d494eb73355c8f 100644 --- a/data/episode_081/meta.json +++ b/data/episode_081/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 429, - "duration_s": 10.761497497558594, - "fps_actual": 39.86434045051119, + "created": "2026-09-20 10:08:22", + "n_steps": 331, + "duration_s": 8.825535774230957, + "fps_actual": 37.50480520020812, "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_081/sim.mp4 b/data/episode_081/sim.mp4 index 77e035e37fd990a8a511ab0b07fa7affa7f404e2..0673489d98ba7179d48bb55a6b0315f7a2588514 100644 --- a/data/episode_081/sim.mp4 +++ b/data/episode_081/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ffb5dd4ebf9004c46c6f64b5c533859f53a9c6f648f79885f5ad12caee55deff -size 7418143 +oid sha256:036f9e70402a284dacf1ef6d83148163f6430b9449cefe3af75442b093883aee +size 5694915 diff --git a/data/episode_082/data.npz b/data/episode_082/data.npz index fcf1094e911c3cb9360d356b5a122bf7cc0d6fe7..a61916aba4c67c2ce4020b3f591730172a6ff004 100644 --- a/data/episode_082/data.npz +++ b/data/episode_082/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dc0a4474832628ef8d71f51e0e82ec8be44d850b8aaca13a79a8a9f3abe52001 -size 147467 +oid sha256:be585f08b3779cc1c4eb66575030c7ec764c6762c54aadff459a832a9183be83 +size 122917 diff --git a/data/episode_082/meta.json b/data/episode_082/meta.json index b914741fbb15060d16efa07e545e6586fa9f558e..1a0160b9bd8e5903554c2a686fe4a1eff80c7a7d 100644 --- a/data/episode_082/meta.json +++ b/data/episode_082/meta.json @@ -1,9 +1,8 @@ { "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", "scene": "sim/panthera/scene.xml", - "map_mode": "keyboard", + "control_mode": "keyboard", "track_rotation": true, - "pinch": false, "recording": { "trigger": "keyboard_or_mouse_motion", "max_duration_s": 60.0 @@ -22,6 +21,14 @@ "joint6" ], "gripper_open_m": 0.04, + "arm_start_range_m": [ + 0.3, + 0.48, + -0.16, + 0.16, + 0.1, + 0.4 + ], "objects": [ "cube_red", "cube_green", @@ -41,14 +48,13 @@ ], "view": "grid", "frames": { - "hand_pos/hand_quat": "unused (keyboard mode): NaN", "ee_*/target_*": "robot base frame", "quat": "(w, x, y, z)" }, - "created": "2026-09-19 17:09:06", - "n_steps": 422, - "duration_s": 10.562723159790039, - "fps_actual": 39.95181863768437, + "created": "2026-09-20 10:08:22", + "n_steps": 351, + "duration_s": 9.549298763275146, + "fps_actual": 36.756625664481426, "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_082/sim.mp4 b/data/episode_082/sim.mp4 index 9756283175d4313ebdc2ccae81ae5a2dddb3d26f..e55f0e38439d91439155e55bb35f2be8afc063de 100644 --- a/data/episode_082/sim.mp4 +++ b/data/episode_082/sim.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:09c9d8c94b4acf2431dde17cb6250a7e38652b8a09b459c410d15c926e2f76ad -size 7975542 +oid sha256:64f112d72a7d43547bea081edc902e5813171a2b18862722c77392ea9a8281aa +size 6018568 diff --git a/data/episode_083/data.npz b/data/episode_083/data.npz index 50a463fecd658f4e4db25e42bb617a44444f478c..1ee1f8347199e45935009b2f058175bf05971e8d 100644 --- a/data/episode_083/data.npz +++ b/data/episode_083/data.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6e511835dd479764a5a653eb537fe7d605f365cc980f24bc6eb0183dde55541e -size 163058 +oid sha256:562e7c8f44553bd43a1ce8b5c71a736a31098691f3574733a410ccda71d80b57 +size 128076