| [ |
| { |
| "episode_index": 0, |
| "source": "/share/datasets/intern/debug_20260919/0.hdf5", |
| "source_size": 180033604, |
| "source_mtime_ns": 1789799656000000000, |
| "source_fps": 28.744152069091797, |
| "frames": 1357, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 1357, |
| "jpeg_sha256": "bc7f2d8a3886987203d8ff3b32ef4f12e794a265d16d4722f8e46f9e0f157260", |
| "bytes": 86100852 |
| }, |
| "cam_front": { |
| "frames": 1357, |
| "jpeg_sha256": "d86295753509e9ff7fab8f8dba06d426ab55e7902b69e71d49c4ebe79a5b06e8", |
| "bytes": 42641057 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 1357, |
| "jpeg_sha256": "83761d7c5b245beb7a775ab3f3fd0b80494430eeb61668ea7436afcd53e8a18d", |
| "bytes": 27261230 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 1357, |
| "jpeg_sha256": "f84554c8f4577ac13978e533abd0b4bc0a4e6854bbe9dcbc385b36d2fea66481", |
| "bytes": 23614926 |
| } |
| } |
| }, |
| { |
| "episode_index": 1, |
| "source": "/share/datasets/intern/debug_20260919/1.hdf5", |
| "source_size": 139194347, |
| "source_mtime_ns": 1789799803000000000, |
| "source_fps": 29.783720016479492, |
| "frames": 1034, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 1034, |
| "jpeg_sha256": "51709c1ac459d52a9dcf73be69f66b36a92e1cc46019dddc4acee7dfc414b892", |
| "bytes": 65072807 |
| }, |
| "cam_front": { |
| "frames": 1034, |
| "jpeg_sha256": "3f9f16d60c370487cae357e5d5dc876e9914437b77ffd9ba3069deba593a467d", |
| "bytes": 34685616 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 1034, |
| "jpeg_sha256": "c71176e3f93fa6bc91cb4e2db50df3f46b504953ac31bc12c5fbe2134e5e6993", |
| "bytes": 20931401 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 1034, |
| "jpeg_sha256": "a20fb4f106c8bd823cb0e180f570afbe0136d41755d76fb583b5c28f6b299100", |
| "bytes": 18167639 |
| } |
| } |
| }, |
| { |
| "episode_index": 2, |
| "source": "/share/datasets/intern/debug_20260919/2.hdf5", |
| "source_size": 143588023, |
| "source_mtime_ns": 1789799852000000000, |
| "source_fps": 29.811664581298828, |
| "frames": 1034, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 1034, |
| "jpeg_sha256": "9fd15a1ff8dfdd251d25f4064c1a3bc9b4e72ad10e756eb2826e9d923fbf0491", |
| "bytes": 64023022 |
| }, |
| "cam_front": { |
| "frames": 1034, |
| "jpeg_sha256": "5457df828be2f3715e86f50f8cdd14c4031978e176426fe1147dfd13f7edc48e", |
| "bytes": 40184292 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 1034, |
| "jpeg_sha256": "87405e1da2e6cf49d977f2caa8823ac851ff22f2e69f7d087f3ab589368f0a51", |
| "bytes": 20895058 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 1034, |
| "jpeg_sha256": "8e32e4620ceae0fac5f79ac552126ef7e4bcfbf04bab16e260c8ac2c198b49f7", |
| "bytes": 18168591 |
| } |
| } |
| }, |
| { |
| "episode_index": 3, |
| "source": "/share/datasets/intern/debug_20260919/3.hdf5", |
| "source_size": 152450243, |
| "source_mtime_ns": 1789799952000000000, |
| "source_fps": 29.88298988342285, |
| "frames": 1070, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 1070, |
| "jpeg_sha256": "2a67bac796ae96f06c8270ae68d697e5b16c72dc8b519d7376fbb38795a8e35c", |
| "bytes": 66335978 |
| }, |
| "cam_front": { |
| "frames": 1070, |
| "jpeg_sha256": "670f0fbbbe7e08bdb7fe3f2bb4b216eea08eff7c79575f7932cd936f87e14672", |
| "bytes": 45505974 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 1070, |
| "jpeg_sha256": "51aa0c028cbddff341d330023598aac9d3c7c31bba626e954d33bf1879641858", |
| "bytes": 21539156 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 1070, |
| "jpeg_sha256": "9afb1ef991691016f8de2521b7cca1c4ac3ee88c77f4679b3e20f6b74b42c36e", |
| "bytes": 18749012 |
| } |
| } |
| }, |
| { |
| "episode_index": 4, |
| "source": "/share/datasets/intern/debug_20260919/4.hdf5", |
| "source_size": 126472780, |
| "source_mtime_ns": 1789800006000000000, |
| "source_fps": 29.87666893005371, |
| "frames": 933, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 933, |
| "jpeg_sha256": "e6e90ae22fd5f024d1e175a68a13ef46dddca2c3e63208ed903905e7c909fed4", |
| "bytes": 58823139 |
| }, |
| "cam_front": { |
| "frames": 933, |
| "jpeg_sha256": "bc4f79b33ddafead713b23b0d41fb7fba6e532d5f3f79ed38da337dc3613b4db", |
| "bytes": 32257977 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 933, |
| "jpeg_sha256": "92242b42c22bb2f651e2f147ef554526025bb5e65f7fd4bf768a3b0467fc040c", |
| "bytes": 18690715 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 933, |
| "jpeg_sha256": "b2ea8645063ffe3b545a74af81a1e559e2425d11fed518c6dd3915837580d706", |
| "bytes": 16390571 |
| } |
| } |
| }, |
| { |
| "episode_index": 5, |
| "source": "/share/datasets/intern/debug_20260919/5.hdf5", |
| "source_size": 80988580, |
| "source_mtime_ns": 1789800055000000000, |
| "source_fps": 29.88150978088379, |
| "frames": 614, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 614, |
| "jpeg_sha256": "b8d9f2dff1b299cc4f66b673ee08a569e5c9f43472584f787ed213ef0a11a0e4", |
| "bytes": 38650504 |
| }, |
| "cam_front": { |
| "frames": 614, |
| "jpeg_sha256": "256063cc48ab4f30df43824b9de6296bff6b90ecb74d90aabedcf06f9a1aa741", |
| "bytes": 18745977 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 614, |
| "jpeg_sha256": "51fa8a5cb0e494933adfb648ad8f3c679519a65a0a27b288b16fc25664a282bb", |
| "bytes": 12422626 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 614, |
| "jpeg_sha256": "c59321f88c1bb2a4ad76aace50571c389d8ace312b3600e9b05c29144c091a23", |
| "bytes": 10947348 |
| } |
| } |
| }, |
| { |
| "episode_index": 6, |
| "source": "/share/datasets/intern/debug_20260919/6.hdf5", |
| "source_size": 91902680, |
| "source_mtime_ns": 1789800100000000000, |
| "source_fps": 29.867950439453125, |
| "frames": 695, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 695, |
| "jpeg_sha256": "3e7935452d0d79470984806af3c2c44ee2cb359d291a5bf552a970a792b281a2", |
| "bytes": 42236236 |
| }, |
| "cam_front": { |
| "frames": 695, |
| "jpeg_sha256": "bcfdd4f79a7ab809aa3270b3dc28f61c3f211876112b15f6d3369fda08b4dcee", |
| "bytes": 23002010 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 695, |
| "jpeg_sha256": "4b946a38af28120a51eecef276f9af2b633e732dc4f8d3892ba5021433eda7d1", |
| "bytes": 14068131 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 695, |
| "jpeg_sha256": "d98a0e943e7eb75c78f970bb390b1c47ab9af96d41dd4940c61c14fb206f645f", |
| "bytes": 12348408 |
| } |
| } |
| }, |
| { |
| "episode_index": 7, |
| "source": "/share/datasets/intern/debug_20260919/7.hdf5", |
| "source_size": 105497507, |
| "source_mtime_ns": 1789800149000000000, |
| "source_fps": 29.881126403808594, |
| "frames": 799, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 799, |
| "jpeg_sha256": "a72c73d49b7d289a92a4575598ea275cb37f949a7721af8b18ea6450b107a1cc", |
| "bytes": 48402898 |
| }, |
| "cam_front": { |
| "frames": 799, |
| "jpeg_sha256": "2bd94d83765a0c7c97a948c9324bd9bffa9fbafb5ebdc47a490935a534247aee", |
| "bytes": 26476235 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 799, |
| "jpeg_sha256": "49d5c006fca0d596d6c352bb3ed7912c16d70e230a4f84647ec5825868ef9bda", |
| "bytes": 16209224 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 799, |
| "jpeg_sha256": "935796e4359ec77e4c3c8e8226d21259256bd02ab62657664cc292c08feca3da", |
| "bytes": 14151674 |
| } |
| } |
| }, |
| { |
| "episode_index": 8, |
| "source": "/share/datasets/intern/debug_20260919/8.hdf5", |
| "source_size": 84428256, |
| "source_mtime_ns": 1789800185000000000, |
| "source_fps": 29.87848663330078, |
| "frames": 628, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 628, |
| "jpeg_sha256": "f234d23c5e446f4e16fdba9fa4f243f30d3648eabd57ca030efac347f5cfb730", |
| "bytes": 39386416 |
| }, |
| "cam_front": { |
| "frames": 628, |
| "jpeg_sha256": "c8bd90aa8b9f917ae9e15e746315b4237a762b2c1e8ae0a97023dc0406c010f2", |
| "bytes": 20622897 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 628, |
| "jpeg_sha256": "2a6d41405878356233fc02aa566274579e64dde7283b8785546b690ee21abe96", |
| "bytes": 12887614 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 628, |
| "jpeg_sha256": "020eccc93dd7fe6297162fd4978e5f769e09b4e8ab92431f9fb0f7b91a3e5fef", |
| "bytes": 11295711 |
| } |
| } |
| }, |
| { |
| "episode_index": 9, |
| "source": "/share/datasets/intern/debug_20260919/9.hdf5", |
| "source_size": 87333504, |
| "source_mtime_ns": 1789800222000000000, |
| "source_fps": 29.869373321533203, |
| "frames": 642, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 642, |
| "jpeg_sha256": "8a3f49cc181c5419a51bcdf737de9a51a15dafefdc869efac16371a0a0c35a2b", |
| "bytes": 40232143 |
| }, |
| "cam_front": { |
| "frames": 642, |
| "jpeg_sha256": "88456776db1ae941487148a4c5c475fe63898233ab834e382515a5ccca8cfdef", |
| "bytes": 22090832 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 642, |
| "jpeg_sha256": "071d2cddba6f38e63ccb7ecfbdaf477a0f533ac2d7c089e33cb4b6d33a8f8f4a", |
| "bytes": 13272573 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 642, |
| "jpeg_sha256": "f8e9c58de0d64b8e61706fd32355fcfb94cac8d28099b9c45e6faeaf4d111405", |
| "bytes": 11489849 |
| } |
| } |
| }, |
| { |
| "episode_index": 10, |
| "source": "/share/datasets/intern/debug_20260919/10.hdf5", |
| "source_size": 115605473, |
| "source_mtime_ns": 1789800266000000000, |
| "source_fps": 29.86708641052246, |
| "frames": 863, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 863, |
| "jpeg_sha256": "7f97fdcbc142fa7000931df6ae9eb852c4cbba55cb2be10c701ed4926cacaa7b", |
| "bytes": 52600432 |
| }, |
| "cam_front": { |
| "frames": 863, |
| "jpeg_sha256": "a0dbb0b49ae66fe4e5e278b4ff562058258d2d510e63acbf6df48e8778f41ce4", |
| "bytes": 29922753 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 863, |
| "jpeg_sha256": "515ce5acbca1309ac973f2879ddf930743fbdbd8825732e0ba13a894be5e8c6a", |
| "bytes": 17420092 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 863, |
| "jpeg_sha256": "ce4787954395b9101bed08ed317632ed8f8723d9c8f17b4103829943d2bae408", |
| "bytes": 15373229 |
| } |
| } |
| }, |
| { |
| "episode_index": 11, |
| "source": "/share/datasets/intern/debug_20260919/11.hdf5", |
| "source_size": 106985624, |
| "source_mtime_ns": 1789800345000000000, |
| "source_fps": 29.873231887817383, |
| "frames": 803, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 803, |
| "jpeg_sha256": "80f864e9e4b1e516fc10a00cc1247f2b4a1ec05bd26d7d15d280c8885fdc3a5b", |
| "bytes": 49076650 |
| }, |
| "cam_front": { |
| "frames": 803, |
| "jpeg_sha256": "28a41df130a3521f0fed7594161e248c30de055685065a0bb2226df4adff0be2", |
| "bytes": 26458660 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 803, |
| "jpeg_sha256": "443f528c5728cf6fe1c4d8666aa765e42c0558a8604aade664aca135ed97abc7", |
| "bytes": 16398914 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 803, |
| "jpeg_sha256": "6bd93ac57ede616949ad1a25df29afc07675ab26093ad0a966a3ced87d91039b", |
| "bytes": 14785656 |
| } |
| } |
| }, |
| { |
| "episode_index": 12, |
| "source": "/share/datasets/intern/debug_20260919/12.hdf5", |
| "source_size": 108741147, |
| "source_mtime_ns": 1789800385000000000, |
| "source_fps": 29.838088989257812, |
| "frames": 816, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 816, |
| "jpeg_sha256": "943e395396d46a1a1a25f22fbd0afe1a77f05ff54d6c95b90738eee6b9f3aa94", |
| "bytes": 51281053 |
| }, |
| "cam_front": { |
| "frames": 816, |
| "jpeg_sha256": "6deffbe41a673373d2abdb3fcff067f1346a0f9f0ffdacb97800716ff46c6215", |
| "bytes": 26069051 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 816, |
| "jpeg_sha256": "c49cfceba75252efe07c8fdd165ca2b1116d3b12e4d1456f270ee7a298c45b62", |
| "bytes": 16610090 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 816, |
| "jpeg_sha256": "1427095844f27a4b6c5164406d6547de810ab5c8ea418ed529491c9a1aa8c177", |
| "bytes": 14513291 |
| } |
| } |
| }, |
| { |
| "episode_index": 13, |
| "source": "/share/datasets/intern/debug_20260919/13.hdf5", |
| "source_size": 122672504, |
| "source_mtime_ns": 1789800425000000000, |
| "source_fps": 29.879207611083984, |
| "frames": 907, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 907, |
| "jpeg_sha256": "3848a747aca6acb9acc3eb58a199fcf571df8cd5c3d11d45e14872a845129948", |
| "bytes": 57095786 |
| }, |
| "cam_front": { |
| "frames": 907, |
| "jpeg_sha256": "fee2a38ef26269052be65fbab4e1dad8ca718a59a77696fa169d7e7da003f5a9", |
| "bytes": 30918473 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 907, |
| "jpeg_sha256": "9dd4c23b5752a7655632f1fc442bef9174033e8c69d911eec37b148b01911095", |
| "bytes": 18385795 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 907, |
| "jpeg_sha256": "2038f2ab1a8a2bb96c9d06a75b6584115374536a35344bccd821c586b59931fe", |
| "bytes": 15971952 |
| } |
| } |
| }, |
| { |
| "episode_index": 14, |
| "source": "/share/datasets/intern/debug_20260919/14.hdf5", |
| "source_size": 111013342, |
| "source_mtime_ns": 1789800471000000000, |
| "source_fps": 29.877513885498047, |
| "frames": 813, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 813, |
| "jpeg_sha256": "497e40a1d68a6c8690363bbd3e6e954a8eed36b5981b1fc49e503700f308ee2f", |
| "bytes": 51357477 |
| }, |
| "cam_front": { |
| "frames": 813, |
| "jpeg_sha256": "06635e803d3b7089d3b12aa9292011a1591b70dd420c6d8a6a1689532a5caee1", |
| "bytes": 28024281 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 813, |
| "jpeg_sha256": "ad8dc762d81f11926ebd221665a34417bda51a1f9d30b301a6c89b13b3d54a13", |
| "bytes": 16638457 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 813, |
| "jpeg_sha256": "650c9b5698a709700d94aa18184b80e8fbd06514a88329107bcbe245dbfbc22b", |
| "bytes": 14724758 |
| } |
| } |
| }, |
| { |
| "episode_index": 15, |
| "source": "/share/datasets/intern/debug_20260919/15.hdf5", |
| "source_size": 89982664, |
| "source_mtime_ns": 1789800562000000000, |
| "source_fps": 29.863779067993164, |
| "frames": 692, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 692, |
| "jpeg_sha256": "907032866c527cd9e55ca9377ab6a9dc05908771eb24fbde4dc5fb378effac07", |
| "bytes": 41929345 |
| }, |
| "cam_front": { |
| "frames": 692, |
| "jpeg_sha256": "904907c4b9701f1a2020a904ab035735b91eb20914579d0a32661b9059b519cf", |
| "bytes": 21544857 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 692, |
| "jpeg_sha256": "0f8a20800330f90dc5abc42a992b1b48f6726d9553ec28c453644c2ca9f6990e", |
| "bytes": 13971081 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 692, |
| "jpeg_sha256": "c828f219eb3c5c395185161b1f87f4dab01aa6ff6b08a350ed3e97cc76f81d0a", |
| "bytes": 12303800 |
| } |
| } |
| }, |
| { |
| "episode_index": 16, |
| "source": "/share/datasets/intern/debug_20260919/16.hdf5", |
| "source_size": 87343077, |
| "source_mtime_ns": 1789800610000000000, |
| "source_fps": 29.861900329589844, |
| "frames": 670, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 670, |
| "jpeg_sha256": "6694f42f868d1626e42082faece9134d71d760083a82fd00ff93bfed4e6b4e89", |
| "bytes": 40743978 |
| }, |
| "cam_front": { |
| "frames": 670, |
| "jpeg_sha256": "b52a4b398acec54927e71a3277a34bc86193ab62500d0c4acdd53dd8a81bfa64", |
| "bytes": 20932722 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 670, |
| "jpeg_sha256": "d1376e142efcf2d64066e02b5c20f7ca5c4fcec1052f5d863dbcbc75c10c7d3a", |
| "bytes": 13534605 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 670, |
| "jpeg_sha256": "c5db88e2b4dd7c8cca236985f7f890551c6b3b2d4601f170078297754fbf3d95", |
| "bytes": 11903361 |
| } |
| } |
| }, |
| { |
| "episode_index": 17, |
| "source": "/share/datasets/intern/debug_20260919/17.hdf5", |
| "source_size": 107267572, |
| "source_mtime_ns": 1789800646000000000, |
| "source_fps": 29.88113021850586, |
| "frames": 834, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 834, |
| "jpeg_sha256": "10103a44917aa840ff1f673f1872c6e0fe9dd27f00883744d204a5e83548b78c", |
| "bytes": 50557677 |
| }, |
| "cam_front": { |
| "frames": 834, |
| "jpeg_sha256": "80701f8429a7fc963b0717b9e77a855e2d604af8498783c92a0468a435e6e528", |
| "bytes": 24910273 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 834, |
| "jpeg_sha256": "4fb0e3b7f45f4852bf94a6b65617a216cd8d439202b2056edc7451596e2597f8", |
| "bytes": 16756710 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 834, |
| "jpeg_sha256": "635a5e220629483d7d4e506cce3b0368b463bc4fc7cc36d5aa60bca4c3ce02cb", |
| "bytes": 14750661 |
| } |
| } |
| }, |
| { |
| "episode_index": 18, |
| "source": "/share/datasets/intern/debug_20260919/18.hdf5", |
| "source_size": 101036587, |
| "source_mtime_ns": 1789800684000000000, |
| "source_fps": 29.86392593383789, |
| "frames": 773, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 773, |
| "jpeg_sha256": "7a3b045e7958bbe9464cbb3e0976526b5ac7df43d9faaf07e215e1cdf5fde8e0", |
| "bytes": 47294851 |
| }, |
| "cam_front": { |
| "frames": 773, |
| "jpeg_sha256": "75e90dae5fe9879c12d8a9594c83083750a6445db9752a50878aea174c436723", |
| "bytes": 24070638 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 773, |
| "jpeg_sha256": "f7bb80547c3a4dd7ba893e0124bfe7f7e480851c495adec2477517c66ab0b0bc", |
| "bytes": 15726792 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 773, |
| "jpeg_sha256": "44b8aec078a03eeb657f8275a0eec24314926c23b39b27b41789e49ba494fc26", |
| "bytes": 13673196 |
| } |
| } |
| }, |
| { |
| "episode_index": 19, |
| "source": "/share/datasets/intern/debug_20260919/19.hdf5", |
| "source_size": 84321271, |
| "source_mtime_ns": 1789800723000000000, |
| "source_fps": 26.13646697998047, |
| "frames": 637, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 637, |
| "jpeg_sha256": "70391564f96086afd9e0db26033f18806e853f266912f6b94c5e7fcf7fef6a59", |
| "bytes": 40196000 |
| }, |
| "cam_front": { |
| "frames": 637, |
| "jpeg_sha256": "5d8e91697842dd82570a6c24cfb9340884ff3e0c2dbbb20c9edf280142795746", |
| "bytes": 19991844 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 637, |
| "jpeg_sha256": "7a7dac08756e7257bdfa9e673d80aeaaab57b0cbccfb99125a8663ffc1439f2b", |
| "bytes": 12772301 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 637, |
| "jpeg_sha256": "16d7d7e62feafcddd85eadb1249ca74cdcb59be716254fb1cedb9477751fa68f", |
| "bytes": 11124290 |
| } |
| } |
| }, |
| { |
| "episode_index": 20, |
| "source": "/share/datasets/intern/debug_20260919/20.hdf5", |
| "source_size": 129373130, |
| "source_mtime_ns": 1789800766000000000, |
| "source_fps": 29.87548828125, |
| "frames": 950, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 950, |
| "jpeg_sha256": "3cae1df407665719f96955014afc518d2dc1d8132fd34ffe90083a41979d0466", |
| "bytes": 58603448 |
| }, |
| "cam_front": { |
| "frames": 950, |
| "jpeg_sha256": "b32c66215a8b20cb7881c03c8ec9d4a2ebd42de9ad714ae14aa99b0b2f447c81", |
| "bytes": 34547109 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 950, |
| "jpeg_sha256": "760eee38f7f2f4c9384e5b29f7d45728a15186aed5eb59643e5c89ae987f99f1", |
| "bytes": 19145129 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 950, |
| "jpeg_sha256": "fe125a4a5ba8ee4b3de6dd73062d2ca754ce4efe8131e856fa3bb7e6196838c4", |
| "bytes": 16774573 |
| } |
| } |
| }, |
| { |
| "episode_index": 21, |
| "source": "/share/datasets/intern/debug_20260919/21.hdf5", |
| "source_size": 134077307, |
| "source_mtime_ns": 1789800817000000000, |
| "source_fps": 29.87577247619629, |
| "frames": 1009, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 1009, |
| "jpeg_sha256": "736b7dfc78e118fd5ff5a5146581f51f0b9d7b2efb7f24207e6a9947521c35de", |
| "bytes": 62459653 |
| }, |
| "cam_front": { |
| "frames": 1009, |
| "jpeg_sha256": "a4cdc2a3c16264684f7c387cbaf00d535678247154595d4a314aae33ed1a50f2", |
| "bytes": 33174665 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 1009, |
| "jpeg_sha256": "d18396f0c2c0c87bacd05b15b3f01476a958372e954c1897bb893daa8dbd2b94", |
| "bytes": 20304217 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 1009, |
| "jpeg_sha256": "34bb81068ae2af9b1721bc6cf94ff4e0de5d392409ee9f8b45a2e670aceff4ac", |
| "bytes": 17811329 |
| } |
| } |
| }, |
| { |
| "episode_index": 22, |
| "source": "/share/datasets/intern/debug_20260919/22.hdf5", |
| "source_size": 101129754, |
| "source_mtime_ns": 1789800856000000000, |
| "source_fps": 29.88297462463379, |
| "frames": 769, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 769, |
| "jpeg_sha256": "615409eb6142903bee58183fc3bbba494044fdebc0d2b8c1d8ac324159f0c542", |
| "bytes": 48467114 |
| }, |
| "cam_front": { |
| "frames": 769, |
| "jpeg_sha256": "16076fb657bdf15cee652b8475a881696e1549d7ec4f473c5b9b2c01786f5d7a", |
| "bytes": 23304295 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 769, |
| "jpeg_sha256": "4f81beb66bd030bf453df883e0ce20ee5db9748c4c9b751b02269008a092e795", |
| "bytes": 15461388 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 769, |
| "jpeg_sha256": "c38c56da3664790bdbaea5e0d5b5e3ebc0512fc306a368700cb25ae073a552a8", |
| "bytes": 13622039 |
| } |
| } |
| }, |
| { |
| "episode_index": 23, |
| "source": "/share/datasets/intern/debug_20260919/23.hdf5", |
| "source_size": 96187458, |
| "source_mtime_ns": 1789800906000000000, |
| "source_fps": 29.884456634521484, |
| "frames": 729, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 729, |
| "jpeg_sha256": "441b4d1bbc4dc996a6090ea26bb5f2ce0a969baf70d0d81ddb50f7d2edcf1e73", |
| "bytes": 45082665 |
| }, |
| "cam_front": { |
| "frames": 729, |
| "jpeg_sha256": "39a76220266ab256769531538b64777f0b9e16c68a09b9fde6e4d4a3e0022a34", |
| "bytes": 23454978 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 729, |
| "jpeg_sha256": "819bcb1aea55f4a5c31ec8e863cf93a7f311d3493d9fe802c5fef4182dee9b25", |
| "bytes": 14543819 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 729, |
| "jpeg_sha256": "d4cf40fc7ec12cec28cde8ae58063ecd34a2040bef0f17094c6ed7b62040b9e7", |
| "bytes": 12861408 |
| } |
| } |
| }, |
| { |
| "episode_index": 24, |
| "source": "/share/datasets/intern/debug_20260919/24.hdf5", |
| "source_size": 108689469, |
| "source_mtime_ns": 1789800949000000000, |
| "source_fps": 29.852603912353516, |
| "frames": 817, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 817, |
| "jpeg_sha256": "1b3724d34185c1b24eadba2bfde4f0715d2c16d8dc75ac301f34a2f3475b773a", |
| "bytes": 51739311 |
| }, |
| "cam_front": { |
| "frames": 817, |
| "jpeg_sha256": "de79bf286a6603ffba93bf624a93bad886171d368037a4bdaa97eab11a3cae74", |
| "bytes": 25445211 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 817, |
| "jpeg_sha256": "85f01862236ab2175f7589ee517406666330a4da005a8d62d9a8843dbdbfccf2", |
| "bytes": 16531500 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 817, |
| "jpeg_sha256": "18d45c48dd7639fe6bfa7d7931405ad121ae416def9d2075a429215f1389ebad", |
| "bytes": 14693626 |
| } |
| } |
| }, |
| { |
| "episode_index": 25, |
| "source": "/share/datasets/intern/debug_20260919/25.hdf5", |
| "source_size": 105554715, |
| "source_mtime_ns": 1789800990000000000, |
| "source_fps": 29.86850929260254, |
| "frames": 794, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 794, |
| "jpeg_sha256": "8777a2d357f014e738a11dd9e34ffbbcc217765f473fe39e683198d5a15d5023", |
| "bytes": 48696636 |
| }, |
| "cam_front": { |
| "frames": 794, |
| "jpeg_sha256": "325170a1f7fe74a6cdfe62bfdfd9d566ce6241916504e527d79a28c09a5386b3", |
| "bytes": 26396252 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 794, |
| "jpeg_sha256": "a4d49cab37e718c57352a87f5b578c85f1888a6dfe70bf02ef99062f804b775e", |
| "bytes": 16003405 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 794, |
| "jpeg_sha256": "3326382e36f8f2a2f04f2d22fd7fc0c4f02115a675dcfc05d7be93aac288e9c3", |
| "bytes": 14199280 |
| } |
| } |
| }, |
| { |
| "episode_index": 26, |
| "source": "/share/datasets/intern/debug_20260919/26.hdf5", |
| "source_size": 97325115, |
| "source_mtime_ns": 1789801030000000000, |
| "source_fps": 29.875564575195312, |
| "frames": 728, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 728, |
| "jpeg_sha256": "6718151b6db7059cae45b38c6f015632f6f517c539c644516117c91bd1a3b02d", |
| "bytes": 44569865 |
| }, |
| "cam_front": { |
| "frames": 728, |
| "jpeg_sha256": "669ec64796ba69e75cf4b95237ef51f425e33798567290cbcc835d5976fcc58e", |
| "bytes": 24903807 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 728, |
| "jpeg_sha256": "8a15733c05027d5ac2c76015a5cb2285ef7fa5a16720b8d2bd8a72b59a57fd37", |
| "bytes": 14743376 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 728, |
| "jpeg_sha256": "ee398a54275263ea2efaefb1bf84108b3091fab0ae2afd9b65916d6a52b0441f", |
| "bytes": 12871786 |
| } |
| } |
| }, |
| { |
| "episode_index": 27, |
| "source": "/share/datasets/intern/debug_20260919/27.hdf5", |
| "source_size": 97531325, |
| "source_mtime_ns": 1789801080000000000, |
| "source_fps": 29.8880615234375, |
| "frames": 737, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 737, |
| "jpeg_sha256": "9ce7e9488f255ef302f3d1876e2425163308201b263d933496ec7fb0c2ab63ca", |
| "bytes": 46446813 |
| }, |
| "cam_front": { |
| "frames": 737, |
| "jpeg_sha256": "0bdc0dd3e01d18b39396957b72ca252756feb9d9d56091f1cd05a93935f02703", |
| "bytes": 23138760 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 737, |
| "jpeg_sha256": "84f5c028157eb8389ae33fda64d3bf1cc8cd9581680264746f29e1f60d7a8e50", |
| "bytes": 14794036 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 737, |
| "jpeg_sha256": "3ed416423e9b503062e459c91984303f08da0bf583e4429ff70187f4a27959fe", |
| "bytes": 12899860 |
| } |
| } |
| }, |
| { |
| "episode_index": 28, |
| "source": "/share/datasets/intern/debug_20260919/28.hdf5", |
| "source_size": 113375712, |
| "source_mtime_ns": 1789801131000000000, |
| "source_fps": 29.864103317260742, |
| "frames": 852, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 852, |
| "jpeg_sha256": "77bfda7ebbb87d16f66aff2ab80f5a1a929153365959573f0f71d432391862ac", |
| "bytes": 52533845 |
| }, |
| "cam_front": { |
| "frames": 852, |
| "jpeg_sha256": "334dbf7ece46fabedbca7c619dfa4893180e4968ede8b5e917c05b7a9dfcaa69", |
| "bytes": 28640651 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 852, |
| "jpeg_sha256": "d501af4455666be217962c5510ccd63ab3309409b939f49fa0c69dbb052b6e32", |
| "bytes": 17050077 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 852, |
| "jpeg_sha256": "1723f93904aff472349de748e5c443637e5c748b074dec7f135e39f60209c00d", |
| "bytes": 14862493 |
| } |
| } |
| }, |
| { |
| "episode_index": 29, |
| "source": "/share/datasets/intern/debug_20260919/29.hdf5", |
| "source_size": 104025660, |
| "source_mtime_ns": 1789801182000000000, |
| "source_fps": 29.8582763671875, |
| "frames": 794, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 794, |
| "jpeg_sha256": "6a26e80f3bbc2cc7decd0821bb4375b459899336c352aa33e512954ae5935d3b", |
| "bytes": 48321318 |
| }, |
| "cam_front": { |
| "frames": 794, |
| "jpeg_sha256": "9ee06153e79f8db1c17fb4c0cd4461a4472d9e555434fb900558166416635687", |
| "bytes": 25625866 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 794, |
| "jpeg_sha256": "9bf89fc0d3acb91b9f778bcb087e63c17fcfd987574bae84f82dc79ccdb6d83a", |
| "bytes": 15938117 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 794, |
| "jpeg_sha256": "a1a283d959f665e7ea3caaf28137aa4b892e16f9333b951a81db054daf27db83", |
| "bytes": 13875300 |
| } |
| } |
| }, |
| { |
| "episode_index": 30, |
| "source": "/share/datasets/intern/debug_20260919/30.hdf5", |
| "source_size": 123504363, |
| "source_mtime_ns": 1789801229000000000, |
| "source_fps": 29.85923194885254, |
| "frames": 925, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 925, |
| "jpeg_sha256": "872ea0a2077ad0e1e4babcc78ca7cd15c9d1c8310b3ebd197e4fdf14b18d20ca", |
| "bytes": 58359211 |
| }, |
| "cam_front": { |
| "frames": 925, |
| "jpeg_sha256": "da591149fc390521031419f3b2904cc803aaeaf136d8b8ed3b3f2c4fb1a9cefb", |
| "bytes": 30165491 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 925, |
| "jpeg_sha256": "891a059a8d6a3c77aba00270f8c4544401b5c8514a3042ad5f79d29b89d26aa3", |
| "bytes": 18561870 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 925, |
| "jpeg_sha256": "e242da18dc0b3808fb8728f3e1acfec6771bd6ed3ad9d5669f8e19b49ac23f2a", |
| "bytes": 16104357 |
| } |
| } |
| }, |
| { |
| "episode_index": 31, |
| "source": "/share/datasets/intern/debug_20260919/31.hdf5", |
| "source_size": 112675744, |
| "source_mtime_ns": 1789801268000000000, |
| "source_fps": 29.87748146057129, |
| "frames": 849, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 849, |
| "jpeg_sha256": "227e866f78d3516755148d027de238f67aa36d380e3d4672eeb281dfdc8d9752", |
| "bytes": 53661411 |
| }, |
| "cam_front": { |
| "frames": 849, |
| "jpeg_sha256": "a68a2ac6b53a770d5a7fa05b2a053da5ac09c2bdede53d069a2cbe741cc80428", |
| "bytes": 26141890 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 849, |
| "jpeg_sha256": "5d71aa5723ceeecc125ae9e9bd4b7efe7f8aa943a1f17a6f8334d1186db22113", |
| "bytes": 17219995 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 849, |
| "jpeg_sha256": "ba7bcb35ee40c78f3b0ff8d421531772e25cc3c5b8abcbaf3f21b7d0090a44c1", |
| "bytes": 15366188 |
| } |
| } |
| }, |
| { |
| "episode_index": 32, |
| "source": "/share/datasets/intern/debug_20260919/32.hdf5", |
| "source_size": 88330413, |
| "source_mtime_ns": 1789801326000000000, |
| "source_fps": 29.877107620239258, |
| "frames": 684, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 684, |
| "jpeg_sha256": "a1a1b00df44c38cc8def249c7bce6805b1ab42457181e66abedbbcebdc1261e4", |
| "bytes": 41847813 |
| }, |
| "cam_front": { |
| "frames": 684, |
| "jpeg_sha256": "1336aa33981391de881374a08777124150024373b65cbb0116727bb34d755c31", |
| "bytes": 20431392 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 684, |
| "jpeg_sha256": "c479c2ed03c9b596681285f114b251725582e0b722279b91d85ca40f89c241f7", |
| "bytes": 13714771 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 684, |
| "jpeg_sha256": "b944a703e64565877cc0676a704394f2b085ca71c447359d3988693611632ce9", |
| "bytes": 12093788 |
| } |
| } |
| }, |
| { |
| "episode_index": 33, |
| "source": "/share/datasets/intern/debug_20260919/33.hdf5", |
| "source_size": 110596250, |
| "source_mtime_ns": 1789801375000000000, |
| "source_fps": 29.87666130065918, |
| "frames": 833, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 833, |
| "jpeg_sha256": "b00d2979d05960976474d985d9dd02eb3758e24ff13d5b0f7a434fe699fde9f7", |
| "bytes": 52658004 |
| }, |
| "cam_front": { |
| "frames": 833, |
| "jpeg_sha256": "ff424add6ad2ffceb2eaf9fc6b3b9d72f0c221905ce53bbc5dd42d5066c34e94", |
| "bytes": 26085684 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 833, |
| "jpeg_sha256": "b2cf395be55667e318b66fc6965a89e8a90f5c44ea0c81acb29087f91fef845f", |
| "bytes": 16663009 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 833, |
| "jpeg_sha256": "b9b698df6bed1a1948fa20991635623a0eabc370a55a8e77339993a22ede4a0c", |
| "bytes": 14910446 |
| } |
| } |
| }, |
| { |
| "episode_index": 34, |
| "source": "/share/datasets/intern/debug_20260919/34.hdf5", |
| "source_size": 93784014, |
| "source_mtime_ns": 1789801416000000000, |
| "source_fps": 29.877504348754883, |
| "frames": 723, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 723, |
| "jpeg_sha256": "719f49bdb26b6fb4fe60fce50f05539dba538998c665afdb41b6fa159637896a", |
| "bytes": 44508022 |
| }, |
| "cam_front": { |
| "frames": 723, |
| "jpeg_sha256": "36eee6370584c6434bde9581fddc3882d6ed220bd1c0806c87b280051a9a7ae6", |
| "bytes": 21891953 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 723, |
| "jpeg_sha256": "203c376b85c306e8f2cb2e93a7c507e37d91fc9f8213274f63983dac92546ace", |
| "bytes": 14496550 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 723, |
| "jpeg_sha256": "30d1180279f09c04ec39d890e4a161bf0142be6d1efe5a7274b6efb4f98ad97a", |
| "bytes": 12626469 |
| } |
| } |
| }, |
| { |
| "episode_index": 35, |
| "source": "/share/datasets/intern/debug_20260919/35.hdf5", |
| "source_size": 117937117, |
| "source_mtime_ns": 1789801458000000000, |
| "source_fps": 29.869298934936523, |
| "frames": 899, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 899, |
| "jpeg_sha256": "d471f7004aeaff7305fa0e926207953aa0c2da6d5ee78cbb5969ca377638dffa", |
| "bytes": 56639946 |
| }, |
| "cam_front": { |
| "frames": 899, |
| "jpeg_sha256": "7d25cb54667539aaa437b98c9fd32321ef514a600b39a777ad16032a41959aa5", |
| "bytes": 27252738 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 899, |
| "jpeg_sha256": "8878ddd787473205696735f14dcd7228378fbc28306595a1ad73c688548e0389", |
| "bytes": 18024035 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 899, |
| "jpeg_sha256": "969fe9d2abc7bed53d54cf6860ca8f578a186f1719dd2fa5ada785526c3bbb89", |
| "bytes": 15702288 |
| } |
| } |
| }, |
| { |
| "episode_index": 36, |
| "source": "/share/datasets/intern/debug_20260919/36.hdf5", |
| "source_size": 144904551, |
| "source_mtime_ns": 1789801515000000000, |
| "source_fps": 29.878150939941406, |
| "frames": 1100, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 1100, |
| "jpeg_sha256": "620314cffa73df100f1b536f5bd7fc4792195738fb0476f5b0fee3be25d764d6", |
| "bytes": 69440907 |
| }, |
| "cam_front": { |
| "frames": 1100, |
| "jpeg_sha256": "52026dc0506988c16a03c50760bf4cd887c2d954f82e3662c642bddedbb15638", |
| "bytes": 33709766 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 1100, |
| "jpeg_sha256": "42e4c7fe217b1f6b39d6bedd8581513ce89f6f887f02e7c887734fe9532f8d79", |
| "bytes": 22116310 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 1100, |
| "jpeg_sha256": "d615df3fbbb7995ecd4479d06142a745825a0c105ee72dab11bf73e3a62e2d49", |
| "bytes": 19273906 |
| } |
| } |
| }, |
| { |
| "episode_index": 37, |
| "source": "/share/datasets/intern/debug_20260919/37.hdf5", |
| "source_size": 116713206, |
| "source_mtime_ns": 1789801558000000000, |
| "source_fps": 29.874011993408203, |
| "frames": 886, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 886, |
| "jpeg_sha256": "83804a95f3ced80c8c850f77e11d4e8e0fc9d5c6b0ea2b253363c31da1015636", |
| "bytes": 54329113 |
| }, |
| "cam_front": { |
| "frames": 886, |
| "jpeg_sha256": "a519ba2539c4bcd6286a69970fa7d4bb9324d24ece4381a78d2a62fa050b9c3f", |
| "bytes": 28726071 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 886, |
| "jpeg_sha256": "38fc60e256e0660c2a30333d8854ff5e9c3a317915800d331c1ab467ebc6946e", |
| "bytes": 17762476 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 886, |
| "jpeg_sha256": "460f248b3d53b6daf23558040e91a11d109ca7430a0aca8d50a7bb4b7b98ef63", |
| "bytes": 15610499 |
| } |
| } |
| }, |
| { |
| "episode_index": 38, |
| "source": "/share/datasets/intern/debug_20260919/38.hdf5", |
| "source_size": 92097235, |
| "source_mtime_ns": 1789801611000000000, |
| "source_fps": 29.878870010375977, |
| "frames": 699, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 699, |
| "jpeg_sha256": "fd0740a67573aff87c3e7af6dcf04923e5b95d2c2409ab93416363b56c3b984e", |
| "bytes": 44195322 |
| }, |
| "cam_front": { |
| "frames": 699, |
| "jpeg_sha256": "70f15d8314936920e2f44745508ddc9f709df6b379e368bb43504cb5ae81fd80", |
| "bytes": 21596421 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 699, |
| "jpeg_sha256": "7cad5c2d2f98fe753d7b8624680fb5463953f8ae83abfa5d8f9604520bb3bd82", |
| "bytes": 13977580 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 699, |
| "jpeg_sha256": "0b2222c243d033cb99714787b5b8408f4fa2a20832864db2bd739c9b291b2a1c", |
| "bytes": 12091859 |
| } |
| } |
| }, |
| { |
| "episode_index": 39, |
| "source": "/share/datasets/intern/debug_20260919/39.hdf5", |
| "source_size": 113728293, |
| "source_mtime_ns": 1789801651000000000, |
| "source_fps": 29.876686096191406, |
| "frames": 864, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 864, |
| "jpeg_sha256": "2e894151bbcbceb99d456fdb5e981261bc4757c75d59bf6a46a3542cfcaa9fc2", |
| "bytes": 54388415 |
| }, |
| "cam_front": { |
| "frames": 864, |
| "jpeg_sha256": "09f36ed85e6987a6458effe1a8e9a4fdceab1f71b4b7b8079401147a580dfc59", |
| "bytes": 26531864 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 864, |
| "jpeg_sha256": "ff309cd0b7e14c0aa924c412a255714a7b6ab83dac4e629f0406951778344b36", |
| "bytes": 17363926 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 864, |
| "jpeg_sha256": "f54775c68fe0e275daee5c4e21ceae587a35a24a238b9bd2add87509841b3ea4", |
| "bytes": 15173522 |
| } |
| } |
| }, |
| { |
| "episode_index": 40, |
| "source": "/share/datasets/intern/debug_20260919/40.hdf5", |
| "source_size": 111532084, |
| "source_mtime_ns": 1789801687000000000, |
| "source_fps": 29.86494255065918, |
| "frames": 859, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 859, |
| "jpeg_sha256": "38174e875292b2f1ace36c4ffb8f10ce98d0a74ebcf7921bc4fb4479a4e65107", |
| "bytes": 52475947 |
| }, |
| "cam_front": { |
| "frames": 859, |
| "jpeg_sha256": "1ca9de764cd3904b99355efe217c60836c713aaa1059abae595aff3f9b53644e", |
| "bytes": 26146844 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 859, |
| "jpeg_sha256": "2d6ca712dde57aaeed1076177d3dc2180b6065fa19ebcb1f73f7f69edab7a7ae", |
| "bytes": 17360378 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 859, |
| "jpeg_sha256": "f31c0b7f7772715588ee8bff5067c4739475f78d868f7877917cc56759d528f4", |
| "bytes": 15253899 |
| } |
| } |
| }, |
| { |
| "episode_index": 41, |
| "source": "/share/datasets/intern/debug_20260919/41.hdf5", |
| "source_size": 125297638, |
| "source_mtime_ns": 1789801733000000000, |
| "source_fps": 29.86344337463379, |
| "frames": 948, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 948, |
| "jpeg_sha256": "eb23e60f07e9f8c8432236a727c09a6d5663df4181eaa2be9a33675032988219", |
| "bytes": 59877327 |
| }, |
| "cam_front": { |
| "frames": 948, |
| "jpeg_sha256": "7e23c0da295058e677017143854b4a1380b32290d42b39d8aef8fb1609f5cf43", |
| "bytes": 29125487 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 948, |
| "jpeg_sha256": "b53433dfc1c75d5db19a8529f0b1e76ed448e86191d9d8c8c4cf9f86afaad5bb", |
| "bytes": 19222614 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 948, |
| "jpeg_sha256": "f3f972a1e58c8931ab32d386e45a42cada71e027c0dcf217d758b90ecb13e3a6", |
| "bytes": 16755465 |
| } |
| } |
| }, |
| { |
| "episode_index": 42, |
| "source": "/share/datasets/intern/debug_20260919/42.hdf5", |
| "source_size": 131913347, |
| "source_mtime_ns": 1789801776000000000, |
| "source_fps": 29.863357543945312, |
| "frames": 1002, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 1002, |
| "jpeg_sha256": "fbedbb2bd0249c4257d06774658a71fab97ad130b5c7f066f386142380c5b6d7", |
| "bytes": 63028519 |
| }, |
| "cam_front": { |
| "frames": 1002, |
| "jpeg_sha256": "7ea70c1e04e4da539bc350aa778e2c0592da72908466aae4511152eb5970abc0", |
| "bytes": 31053861 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 1002, |
| "jpeg_sha256": "8efc200d41abce479a72f67994cb78969bb21dee0d2b44f5558ea02525159ddf", |
| "bytes": 20092675 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 1002, |
| "jpeg_sha256": "8c0e8808066e93c10034b493071669343fe877b2e73b5480414698fbe124bde3", |
| "bytes": 17421637 |
| } |
| } |
| }, |
| { |
| "episode_index": 43, |
| "source": "/share/datasets/intern/debug_20260919/43.hdf5", |
| "source_size": 104637893, |
| "source_mtime_ns": 1789801853000000000, |
| "source_fps": 29.87551498413086, |
| "frames": 801, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 801, |
| "jpeg_sha256": "2f5bb2ae7a1481ae8ace80842f260eb6cdd71143b520ff54c57ac06503f23e34", |
| "bytes": 50158196 |
| }, |
| "cam_front": { |
| "frames": 801, |
| "jpeg_sha256": "b5326410debb3a0f1465d67c744f9b0ce133a037839495f3d1401c868499f032", |
| "bytes": 24031863 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 801, |
| "jpeg_sha256": "316d96c949ff5eba9e2f57f5af3ea4b7b7f2c5c614ccdc553812fc8d377ececa", |
| "bytes": 16162436 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 801, |
| "jpeg_sha256": "d3e47d3f495b99d647a09451896e87f1fd3739d792d79c24770fcd948bf8082d", |
| "bytes": 14015563 |
| } |
| } |
| }, |
| { |
| "episode_index": 44, |
| "source": "/share/datasets/intern/debug_20260919/44.hdf5", |
| "source_size": 110371960, |
| "source_mtime_ns": 1789801898000000000, |
| "source_fps": 29.873849868774414, |
| "frames": 841, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 841, |
| "jpeg_sha256": "f40244f9114a5e59f3f139ad49f7e8f9b559e47a182764bb7efcf41ce05e5f25", |
| "bytes": 52550664 |
| }, |
| "cam_front": { |
| "frames": 841, |
| "jpeg_sha256": "ae15634dd217d03a23ddea9e2676b684812228b82b0b4e48418bbbc290f94453", |
| "bytes": 25388213 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 841, |
| "jpeg_sha256": "131a94dbc5106cf1f103aa5e168a8380a7d5867e234eba5b91cc8db317a2b13b", |
| "bytes": 17240567 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 841, |
| "jpeg_sha256": "e04a376a44467a58bedd9f335159eba4210a5b3e5c48b23433ea375126a4bf3e", |
| "bytes": 14902479 |
| } |
| } |
| }, |
| { |
| "episode_index": 45, |
| "source": "/share/datasets/intern/debug_20260919/45.hdf5", |
| "source_size": 196237549, |
| "source_mtime_ns": 1789801973000000000, |
| "source_fps": 29.82991600036621, |
| "frames": 1484, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 1484, |
| "jpeg_sha256": "21c8b246590a823c3b2eba6e8cd3372db92d4e95be0755cffb7b31f94904e7e7", |
| "bytes": 93808811 |
| }, |
| "cam_front": { |
| "frames": 1484, |
| "jpeg_sha256": "1392240f91c947fa7a2c1394facaf512f69a468e14d817280bc934b71089fb96", |
| "bytes": 45605775 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 1484, |
| "jpeg_sha256": "202b49c63b74346c44c26673dfa0706ecfc7dfce58a4d91867c515153d3669d2", |
| "bytes": 30120982 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 1484, |
| "jpeg_sha256": "4ef4f6446d03feff89cb64aa4709a56d9ede4e096e1ec8c73d7d8a3281713759", |
| "bytes": 26245148 |
| } |
| } |
| }, |
| { |
| "episode_index": 46, |
| "source": "/share/datasets/intern/debug_20260919/46.hdf5", |
| "source_size": 131130662, |
| "source_mtime_ns": 1789802014000000000, |
| "source_fps": 29.886045455932617, |
| "frames": 987, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 987, |
| "jpeg_sha256": "1105f3348c738c944f44ccc1d4c91183e188639c3595090842f289cf168636b8", |
| "bytes": 59923143 |
| }, |
| "cam_front": { |
| "frames": 987, |
| "jpeg_sha256": "828018fd9c1c6bd5abd1bf1556242a7b563edab8605ca806ea5eb9ce08dba639", |
| "bytes": 33775871 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 987, |
| "jpeg_sha256": "20787810c447bbb95918239de742dbc7fe0bfcce872f69d0cca5be3b2ce1417e", |
| "bytes": 19839023 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 987, |
| "jpeg_sha256": "2140f5185dcc73fe914613057565ad2eeeb0b280299e07b01a24278788660222", |
| "bytes": 17273899 |
| } |
| } |
| }, |
| { |
| "episode_index": 47, |
| "source": "/share/datasets/intern/debug_20260919/47.hdf5", |
| "source_size": 107096082, |
| "source_mtime_ns": 1789802051000000000, |
| "source_fps": 29.872709274291992, |
| "frames": 803, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 803, |
| "jpeg_sha256": "4d0aa3625c6eb6778f8a3bf6acb0729558184df84c804b51ebd7003c2f38def7", |
| "bytes": 49435939 |
| }, |
| "cam_front": { |
| "frames": 803, |
| "jpeg_sha256": "1ce105d52732aaec2ef3ff7a67f0bb193c8c315f113fcb7f2134edff2097f409", |
| "bytes": 27114464 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 803, |
| "jpeg_sha256": "078fa3fd58b50fc0c435f17aaa10b7ac1586ae21e0e385b637b7def15d203cef", |
| "bytes": 16181896 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 803, |
| "jpeg_sha256": "b5b1ccbcfb2a46ae0936d51fedc3e9097f8b88beddcd5831769c611256ae8a85", |
| "bytes": 14097127 |
| } |
| } |
| }, |
| { |
| "episode_index": 48, |
| "source": "/share/datasets/intern/debug_20260919/48.hdf5", |
| "source_size": 120126592, |
| "source_mtime_ns": 1789802101000000000, |
| "source_fps": 29.87811279296875, |
| "frames": 927, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 927, |
| "jpeg_sha256": "8f5b93305922a0b0f702671aada9559bfc2cb22d9aad79d261722cb832dfc623", |
| "bytes": 56583882 |
| }, |
| "cam_front": { |
| "frames": 927, |
| "jpeg_sha256": "e10b776207f2ea88c4a67451da15ac1259596d7dacdf2ce7612fa159c6faa1d9", |
| "bytes": 28295585 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 927, |
| "jpeg_sha256": "beebbbe2dc79145c27ab326d69ea6f2ac16b6408d28bdc3316cfcffdc2290289", |
| "bytes": 18573184 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 927, |
| "jpeg_sha256": "f789a5db5ff9d9bfac210fb5fcce429c5046da9d9e8d2f1123794067cdbb3c8c", |
| "bytes": 16353790 |
| } |
| } |
| }, |
| { |
| "episode_index": 49, |
| "source": "/share/datasets/intern/debug_20260919/49.hdf5", |
| "source_size": 96731303, |
| "source_mtime_ns": 1789802144000000000, |
| "source_fps": 26.634994506835938, |
| "frames": 736, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 736, |
| "jpeg_sha256": "2e56b8a91c90080d1bfb9f0fb891db84358c5f70b309a046f369d16e57c0e8da", |
| "bytes": 46627867 |
| }, |
| "cam_front": { |
| "frames": 736, |
| "jpeg_sha256": "da221a036886eccbf5ecef34b1f30a247f6d41111257640e7a05f10531d1011a", |
| "bytes": 21855460 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 736, |
| "jpeg_sha256": "989376b7e1a65c6f0f9dfc7f890a0979428f408f9394b256ce6ffbe269852e65", |
| "bytes": 14979089 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 736, |
| "jpeg_sha256": "0849e75cf19493860edf62d24fd6695f1c8831ea0b22596c87565bd2715ab1d1", |
| "bytes": 13003224 |
| } |
| } |
| }, |
| { |
| "episode_index": 50, |
| "source": "/share/datasets/intern/debug_20260919/50.hdf5", |
| "source_size": 79129885, |
| "source_mtime_ns": 1789802176000000000, |
| "source_fps": 29.88458251953125, |
| "frames": 614, |
| "missing_wrench_elements": 0, |
| "source_attributes": { |
| "puppet/joint": {}, |
| "gello/joint": {}, |
| "puppet/gripper": { |
| "columns": [ |
| "state_left_knuckle_rad", |
| "command_open_fraction" |
| ], |
| "command_range": [ |
| 0.0, |
| 1.0 |
| ], |
| "command_semantics": "normalized open_fraction (0=closed, 1=open)", |
| "command_topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "command_units": "unitless", |
| "state_fallback_semantics": "legacy CTAG state_pos raw value", |
| "state_fallback_topic": "/gripper/state_pos", |
| "state_fallback_units": "raw", |
| "state_preferred_semantics": "Robotiq left_knuckle actual joint position", |
| "state_preferred_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_preferred_units": "rad", |
| "state_semantics": "Robotiq left_knuckle actual joint position", |
| "state_topic": "/gripper/joint_state_broadcaster_robotiq/joint_states", |
| "state_units": "rad" |
| }, |
| "gello/gripper_width": { |
| "range": [ |
| 0.0, |
| 1.0 |
| ], |
| "semantics": "normalized open_fraction (0=closed, 1=open)", |
| "topic": "/gripper/gripper_client/target_gripper_width_percent", |
| "units": "unitless" |
| }, |
| "puppet/pose": {}, |
| "puppet/wrench": { |
| "baud": 460800, |
| "bias_compensation": "none", |
| "coordinate_transform": "none_sensor_frame", |
| "frame": "kwr75_sensor", |
| "labels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "model": "KWR75", |
| "native_to_si_scale": 9.80665, |
| "native_units_force": "kgf", |
| "native_units_torque": "kgf_m", |
| "num_axes": 6, |
| "port": "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_BG036IYN-if00-port0", |
| "protocol": "RS485_49AA_28byte_float32_le", |
| "source": "kwr75_force_sensor", |
| "topic": "/force_sensor/wrench", |
| "units_force": "N", |
| "units_torque": "Nm" |
| }, |
| "meta/timestamps": {} |
| }, |
| "video_verification": { |
| "cam_high": { |
| "frames": 614, |
| "jpeg_sha256": "eeeff2822349405a0aaa74ed201b37024c4be43593b7e5e96f98ae9cfa667f03", |
| "bytes": 37745445 |
| }, |
| "cam_front": { |
| "frames": 614, |
| "jpeg_sha256": "d926b4e401122a769465b9e7c995561a13c07a6a281da2e9001756276f17a49a", |
| "bytes": 18205382 |
| }, |
| "tactile_left_aug_diff": { |
| "frames": 614, |
| "jpeg_sha256": "14bd088f5b9da601a19c0f75dc0590b1d7f684dd3fe9d53110521e9f6fa83f22", |
| "bytes": 12268468 |
| }, |
| "tactile_right_aug_diff": { |
| "frames": 614, |
| "jpeg_sha256": "f8878dfb7af1159c25f3d4627a48a185f0a33f9f58b80b4a2d7ca9e223376691", |
| "bytes": 10683989 |
| } |
| } |
| } |
| ] |
|
|
