put_bread_toaster_floating_sharpa_scripted: 200 scripted Sharpa episodes (LeRobot v3.0)

README.md

@@ -0,0 +1,402 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- dexsuite
+- scripted-expert
+- dart
+- force
+- put_bread_toaster
+- sharpa
+- floating
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+
+<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=dexsuite/put_bread_toaster_floating_sharpa_scripted">
+<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
+<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
+</a>
+
+
+## Dataset Description
+
+Scripted-expert DexSuite data for **put_bread_toaster** with the floating wrist and the Sharpa hand: 200 successful episodes (65,523 frames) from DexSuite's scripted task controller with grasp-recovery perturbations (DART) and randomized object and start-pose initialization, including per-finger contact forces. These are the Sharpa Put Bread in Toaster demonstrations of the DexSuite benchmark (Track 2). The hand pinches a slice of toast lying flat on the table, lifts it, stands it in a slot of the toaster and pushes the lever down; the task succeeds once the toast stands upright in a slot at least 3 cm below the rim, the lever is pressed through at least 80% of its travel and the toast is at rest (below 5 cm/s). All episodes are successful, recorded at 20 Hz with a static front camera and a wrist camera (224x224 RGB video), proprioception and ground-truth object state, under DexSuite's shared observation/action interface (actions are OSC pose offsets from the episode-start end-effector pose plus gripper/hand joint targets). As in every DexSuite set, frame t stores the observation before action t; the success flag on the last frame refers to the transition it triggers, so the terminal state itself is not stored.
+
+The controller reaches the toast, pinches it, lifts it, carries it over a slot, lowers it in, releases it, moves over the lever and presses it down. Each episode ends at its first successful transition, so `success` and `terminated` are set on the last frame only. DART: during recording the environment executed the controller's command plus a smooth Ornstein-Uhlenbeck perturbation of the wrist pose (1.5 cm and 4 degrees, 0.6 s time constant, scaled by 1.0 / 0.5 / 0.1 in the free / approach / in-hand phases and switched off while pinching, lowering into the slot, releasing and pressing the lever), and the recorded action is the controller's clean command, its correction from the perturbed state (Laskey et al., 2017). The command the environment actually executed at step t is stored in `obs.state.other.action` of frame t+1, so replaying `action` open loop does not reproduce the recorded episodes. Each episode randomizes the toast position (±3 cm in x, ±4 cm in y) and yaw (any heading), the toaster position (±2 cm) and yaw (±8°), the start wrist pose (±5 cm and ±12° per axis) and the relaxed finger pose; 200 of 218 attempts were kept, the other 18 failed the controller's own checks and were discarded.
+
+The recording uses 8 physics substeps per control step (`physics_substeps: 8` in `meta/env_config.json`; DexSuite's default is 2), so build evaluation environments from `meta/env_config.json`. The toaster had its original 3.2 cm slots when the set was recorded. DexSuite 0.1.1 defaults to wider 5.4 cm collision slots (the visual mesh is unchanged); set `DEXSUITE_TOASTER_SLOT=narrow` before building the environment to evaluate in the recorded slot geometry.
+
+The robot is an arm-less floating wrist (a virtual 6-DoF gantry) carrying the right Sharpa hand (22 DoF); the 29-D action is 7 `osc_pose_abs_quat` values (position offset and orientation relative to the episode-start wrist pose) followed by 22 hand joint position targets in radians. The recording names the hand `sharpa_fardexbot`, the Sharpa hand with its wrist-camera mount, which shows in the front-camera frames; DexSuite registers that name as an alias of the plain `sharpa` hand. Besides the standard DexSuite keys, every frame carries per-finger contact forces (`obs.state.other.finger_force_world`, `finger_force_norm` in N, `finger_force_display`, `finger_force_saturated`, `finger_contact`; thumb, index, middle, ring, pinky) and the controller's phase (`obs.state.other.controller_phase`: 0 free, 1 approach, 2 in hand) and stage (`obs.state.other.controller_stage`, named in `meta/controller.json`). `meta/env_config.json` rebuilds the environment and `meta/controller_episodes/episode_*.json` keeps each episode's scene seed, style seed and controller parameters. Depth was rendered during collection but is not included.
+
+- **Homepage:** https://huggingface.co/dexsuite
+- **Paper:** https://arxiv.org/abs/2610.37799
+- **License:** apache-2.0
+
+## Loading
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("dexsuite/put_bread_toaster_floating_sharpa_scripted")
+frame = dataset[0]  # action, obs.state.*, obs.cameras.front.rgb and obs.cameras.wrist.rgb (3x224x224 float in [0, 1])
+```
+
+## Training
+
+DexSuite's robomimic entry point converts the set to HDF5 and trains on it:
+
+```bash
+python -m scripts.imitation_learning.robomimic.train \
+  --dataset put_bread_toaster_floating_sharpa_scripted \
+  --config bc \
+  --sensors state \
+  --architecture mlp
+```
+
+`--sensors cameras --cameras front` trains on the front camera and robot proprio instead, and `--config act`, `act_img` or `diffusion` select the other policy recipes (see `scripts/imitation_learning/robomimic/README.md`). `--dataset dexsuite/put_bread_toaster_floating_sharpa_scripted` works as well.
+
+Rollouts build the environment from `meta/env_config.json`, 8 physics substeps included. Prefix the command with `DEXSUITE_TOASTER_SLOT=narrow` to evaluate in the 3.2 cm slots the set was recorded with.
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "robot_type": null,
+    "total_episodes": 200,
+    "total_frames": 65523,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 20,
+    "splits": {
+        "train": "0:200"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "obs.state.gripper.qpos": {
+            "dtype": "float32",
+            "shape": [
+                22
+            ]
+        },
+        "obs.state.gripper.qtorque": {
+            "dtype": "float32",
+            "shape": [
+                22
+            ]
+        },
+        "obs.state.gripper.qvel": {
+            "dtype": "float32",
+            "shape": [
+                22
+            ]
+        },
+        "obs.state.gripper.tcp_pos": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.gripper.tcp_quat": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ]
+        },
+        "reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "terminated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "success": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "failure": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                29
+            ]
+        },
+        "obs.state.manipulator.eef_pos": {
+            "dtype": "float32",
+            "shape": [
+                1,
+                3
+            ]
+        },
+        "obs.state.manipulator.eef_quat": {
+            "dtype": "float32",
+            "shape": [
+                1,
+                4
+            ]
+        },
+        "obs.state.manipulator.qpos": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ]
+        },
+        "obs.state.manipulator.qtorque": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ]
+        },
+        "obs.state.manipulator.qvel": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ]
+        },
+        "obs.state.other.action": {
+            "dtype": "float32",
+            "shape": [
+                29
+            ]
+        },
+        "obs.state.other.dial_q": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "obs.state.other.last_action": {
+            "dtype": "float32",
+            "shape": [
+                29
+            ]
+        },
+        "obs.state.other.lever_frac": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "obs.state.other.lever_q": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "obs.state.other.toast_aabb_hi": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.other.toast_aabb_lo": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.other.toast_ang": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.other.toast_in_slot": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ]
+        },
+        "obs.state.other.toast_in_toaster_frame": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.other.toast_pos": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.other.toast_quat": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ]
+        },
+        "obs.state.other.toast_vel": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.other.toaster_pos": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ]
+        },
+        "obs.state.other.toaster_quat": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ]
+        },
+        "obs.cameras.front.rgb": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "obs.cameras.wrist.rgb": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "obs.state.other.finger_force_world": {
+            "dtype": "float32",
+            "shape": [
+                5,
+                3
+            ]
+        },
+        "obs.state.other.finger_force_norm": {
+            "dtype": "float32",
+            "shape": [
+                5
+            ]
+        },
+        "obs.state.other.finger_force_display": {
+            "dtype": "float32",
+            "shape": [
+                5
+            ]
+        },
+        "obs.state.other.finger_force_saturated": {
+            "dtype": "bool",
+            "shape": [
+                5
+            ]
+        },
+        "obs.state.other.finger_contact": {
+            "dtype": "bool",
+            "shape": [
+                5
+            ]
+        },
+        "obs.state.other.controller_phase": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "obs.state.other.controller_stage": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "task": "put_bread_toaster",
+    "options": null
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```

data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14fba6cf22d3efc9c89498d0d93ee7d50a121495501b391a41c4fced271f2099
+size 14034100

data/chunk-000/file-001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed0dc168cabeac9fc799d02414bbc7a6388b4fd78c5b6b29f92ba6a4b8fc09cd
+size 13971614

data/chunk-000/file-002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be195ac6e09a91aaf1addd0f249617d3b8b0d080bac4228aa303962e78d42c29
+size 14019534

data/chunk-000/file-003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69318c771f35722e3847e92f08a14d734d01ba44d091ec933feb8b8efb5b8efc
+size 13974591

meta/action_layout.json

@@ -0,0 +1,19 @@
+{
+  "total_dim": 29,
+  "segments": [
+    {
+      "name": "manipulator",
+      "start": 0,
+      "stop": 7,
+      "width": 7,
+      "ctrl_type": "OSCPoseAbsoluteQuatController"
+    },
+    {
+      "name": "gripper",
+      "start": 7,
+      "stop": 29,
+      "width": 22,
+      "ctrl_type": "JointPositionController"
+    }
+  ]
+}

meta/controller.json

@@ -0,0 +1,279 @@
+{
+  "version": "task_controllers_lerobot_v4",
+  "robot": "floating+sharpa_fardexbot",
+  "control_hz": 20,
+  "alignment": "obs[t] and force[t], command[t], outcome[t+1]",
+  "finger_order": [
+    "thumb",
+    "index",
+    "middle",
+    "ring",
+    "pinky"
+  ],
+  "force_units": "N",
+  "force_frame": "world",
+  "force_definition": "norm of summed external contact vectors per whole finger; self contact excluded",
+  "force_display_range_N": [
+    0,
+    30
+  ],
+  "force_raw_uncapped": true,
+  "depth": "raw renderer metres, not a calibrated physical sensor model",
+  "camera_view": "native 224-square, calibrated wrist vertical FOV; task-specific static front when required",
+  "front_camera_preset": "front",
+  "phases": {
+    "0": "free",
+    "1": "approach",
+    "2": "in_hand"
+  },
+  "stages": {
+    "Reach the bread": 0,
+    "Pinch the bread": 1,
+    "Lift the bread": 2,
+    "Carry the bread over the slot": 3,
+    "Lower the bread into the slot": 4,
+    "Release the bread": 5,
+    "Move over the lever": 6,
+    "Press the lever down": 7
+  },
+  "phase_rule": {
+    "engine": "task_phases.TaskPhase",
+    "version": 2.4,
+    "task": "put_bread_toaster",
+    "near_m": 0.22,
+    "lift_m": 0.012,
+    "lift_low_m": 0.004,
+    "lift_rate_m_per_tick": 0.001,
+    "object_near_m": 0.28,
+    "sustained_lift_ticks": 2,
+    "release_ticks": 3,
+    "causal": true,
+    "placement_flags_end_hold": true,
+    "approach_includes_precision_segments": {
+      "spray_graffiti": false,
+      "put_bread_toaster": true
+    },
+    "spray_aim": {
+      "dir_z_enter": -0.5,
+      "dir_z_exit": -0.35,
+      "xy_enter_m": 0.3,
+      "xy_exit_m": 0.36,
+      "spray_active": true
+    },
+    "toaster": {
+      "insert_xy_m": [
+        0.09,
+        0.06
+      ],
+      "insert_z_m": 0.17,
+      "insert_z_exit_m": 0.2,
+      "lift_contact_m": 0.003,
+      "lever_wrist_target_toaster_frame": [
+        -0.25,
+        0.16,
+        0.15
+      ],
+      "lever_near_m": 0.06,
+      "lever_press_frac": 0.02
+    }
+  },
+  "dexsuite_commit": "fee4b8b6cdb76b7b7f594a414604e969dcae527c",
+  "dexsuite_source_sha256": {
+    "dexsuite/api.py": "591bf1a2c655a870ee04d2b631a7094e4787822a1cce794779dae951ea995799",
+    "dexsuite/__init__.py": "f57a9c4a3b1f67424e5e96b127a8a52e49615196af8b72b61bd9fe36293a7d60",
+    "dexsuite/environments/base_env.py": "1eaf94019605724e26c1b472fbd3e3e799d96ce4a5d0bbf86dbf0af627076d99",
+    "dexsuite/environments/__init__.py": "3105c93b964aff7679621da68dc78afb1d4148034aa95ac1c208e7a495d293ab",
+    "dexsuite/environments/single/__init__.py": "6fb2b5fa0d2451e7d59d0b0c4f7cadce535a32e3286bf61c593efc1e9ef88136",
+    "dexsuite/environments/single/baselines/pick_place.py": "d6883a8928674dae4057f1359e66c6ede77693250e51665f520e7135618c4b92",
+    "dexsuite/environments/single/baselines/reach.py": "a13073c5faef4ad9d64044af10b07f074d8b24fced2ad959553de0b9e01d0ddd",
+    "dexsuite/environments/single/baselines/lift.py": "13711b3835a262b6fa0194fd647215b147f31f3fe8c83bbf08d78445dfef003a",
+    "dexsuite/environments/single/baselines/stack.py": "cb5c81b3bd40bf7cea79fcb903d56c437c84482d2eb4752c1be76d46ba054634",
+    "dexsuite/environments/single/baselines/__init__.py": "b3e1524bf417829ca754ef0608111ccdc03a16abcea152b94d1c5c377c0e8fd4",
+    "dexsuite/environments/single/baselines/push.py": "a3763cd5491f2eb0ae0e45b2d7e6544232996d302a9e194ccd745e6ecedc88fc",
+    "dexsuite/environments/single/prototypes/open_faucet.py": "b1ff96d7eea8984cf5f2f1d05381be404f36e9f903172b1bea97fee87ca566ca",
+    "dexsuite/environments/single/prototypes/cut_butter.py": "08c8e67fd699aa6941278f8dd92d58bcc56bfc3575e3ef3334f22c7c904352ef",
+    "dexsuite/environments/single/prototypes/pick_and_place_mug.py": "a03d20beae115ee8890f5cf5c286f26da4d293676a64a807f6736efa043f0d15",
+    "dexsuite/environments/single/prototypes/dice_rotate.py": "89437a6ec6625c86c4864b25ae66ea2fcd43d359e52c3a492c60152d92739335",
+    "dexsuite/environments/single/prototypes/open_jar.py": "8a6ee872dcd57f685640e961ccb825e5fce7a2ae54f2e83f177616aba06f0950",
+    "dexsuite/environments/single/prototypes/cable_routing.py": "974ae1febe16794c1583ab6bab87986d506ada474896a1bf349c80aada02a899",
+    "dexsuite/environments/single/prototypes/fold_shirt.py": "1726745a9e70fa2880dea4b838d11a7538b51fd4fac797db47c2cc8a90f256c4",
+    "dexsuite/environments/single/prototypes/sponge.py": "4dbeacf59d8a41570d1ffc4acf20722984b94abf712be665fe9b2d70da4b7406",
+    "dexsuite/environments/single/prototypes/spread_butter.py": "87420107e91dbaee6eb511513cf2abe9b95332be9dbf4cdd75e3486df19c8ac9",
+    "dexsuite/environments/single/prototypes/__init__.py": "487236916a58cb8f7fd466ec6a795f09c9ec0c4584edafbc702d55cc158d36b1",
+    "dexsuite/environments/single/prototypes/pour_water.py": "7eb0dfe55ef0af109f8c9028b3ef293dfd79cc8bed9e334ddc644ac1800a3446",
+    "dexsuite/environments/single/rigid/pick_place_pan.py": "7ef8bc6a87859306ca6d7b7e14db016eed2fdffd6c080a4c02ad292ec4bd70b3",
+    "dexsuite/environments/single/rigid/stow_in_safe.py": "da1db1ec838ce4ba1d34fefba90924179e8375b38168a4c3276908113f3bc6f1",
+    "dexsuite/environments/single/rigid/pick_place_pan_platform.py": "317dd29d9ed8de0b674392c171ab15fbfeeaa42f2e78c96a371ec9ffd2078a22",
+    "dexsuite/environments/single/rigid/make_coffee.py": "e62ca11c05025baf5f4ad8abd7c70a7323efb0319457a4f3fce8798ec528b52f",
+    "dexsuite/environments/single/rigid/tool_hang.py": "eeae3997cde5ac4a9f289a223de8d337cb617b2380fa1834cf55d5e72bc15492",
+    "dexsuite/environments/single/rigid/close_window_spray.py": "5528f95a66fd070771e95552e89ab3ef9b97b894608f655f066b0e9e227c0046",
+    "dexsuite/environments/single/rigid/pick_place_mug.py": "800e2841cac49d379091e8f92eade3d7abe5723990c7da6c449c521e45ffa8ce",
+    "dexsuite/environments/single/rigid/put_bread_toaster.py": "9be9b37800d391aaec05b3159aac8bba25cbc791b1b3bb5e980623af3e89ba91",
+    "dexsuite/environments/single/rigid/spray_graffiti.py": "fde5570cb46c22ca2baac1d2277ffbcda2512fea136d6ef04e33d082c39a09e3",
+    "dexsuite/environments/single/rigid/drill_to_point.py": "b215481adec15c720e778fa86aceb2b06af0111bd7e7e2daff07d353701cf697",
+    "dexsuite/environments/single/rigid/pliers_in_jewelry_box.py": "748f4240ebdf3f668c16e61382f50607619d8409954f340dc29bb49c14b088e5",
+    "dexsuite/environments/single/rigid/pick_place_fruit.py": "f8c5974719c114a9c6cdd49f8682bd7d80bbf7c9d6bf0b99cfa5b816dafb353a",
+    "dexsuite/environments/single/rigid/__init__.py": "9e908976fa1897ae8677165ac2e6352dbde32148b7085fa1d9fe3d1883cb020e",
+    "dexsuite/environments/single/rigid/open_safe.py": "11951e49a0e4d1593827dcc3c883efd9d29c300de7363160fdf5514f1efcd656",
+    "dexsuite/environments/bimanual/__init__.py": "b39ebf350f3d899ee9bea456a65798bc763e0cda92b467b52015f8c754e2bfa6",
+    "dexsuite/environments/bimanual/baselines/bimanual_reach.py": "db914a04cca140a95d244ac9fbeea60da1c1c63d4df757c28a398a218b940843",
+    "dexsuite/environments/bimanual/baselines/bimanual_pick_place.py": "3b0e1ed9f192a8b7f0931ee1e1a0efdfac935d2a255b35f4c9d093a2c31fddbb",
+    "dexsuite/environments/bimanual/baselines/bimanual_lift.py": "6fe757035b55533ccf65dca04a1794298aeed17d375118802b3d58e1d68e4bf0",
+    "dexsuite/environments/bimanual/baselines/bimanual_stack.py": "ba17cbc81aff72f185bf446d6709d3c04bcdaeba99ab5f030a65b5a03ebb1e63",
+    "dexsuite/environments/bimanual/baselines/__init__.py": "b90a97d7ff9db3754549b902651055a07c8b5d6a1d8b4ee30b30c16c8f5ec480",
+    "dexsuite/environments/bimanual/baselines/bimanual_push.py": "ba29f62620a8f3e658cccc8cdeeaf88c7bbef87284fe2d50e53f03130824b623",
+    "dexsuite/environments/bimanual/rigid/bimanual_pick_place_pan.py": "2ad5f467907bfaf705a03a2dd3b52b3a57f717e4b573de6279a5280435138b80",
+    "dexsuite/environments/bimanual/rigid/bimanual_make_coffee.py": "fc515766f959c4a37ffcf62587a91e13b0f49ccdfec690bd442ab8b5ff9c9517",
+    "dexsuite/environments/bimanual/rigid/bimanual_pick_place_pot.py": "aef5fce05a783acc9fe822f37040e23b0e6b867a39499fc9f8b28dbdce064cb0",
+    "dexsuite/environments/bimanual/rigid/bimanual_pick_place_mug.py": "bf42e869f8ad235f8292f5246c609693b49dc6e76c354f2873786a92c397eabf",
+    "dexsuite/environments/bimanual/rigid/bimanual_drill_to_point.py": "7b9265fec49c01bd78464bb29d2c4fea4a70e30fed8ec6558288a0a624c848d5",
+    "dexsuite/environments/bimanual/rigid/bimanual_stack_mid_air.py": "90e89ab30d8aff95f001ac72a28b5aed4da4dfb9e8b934acc5abaf03dd938a9c",
+    "dexsuite/environments/bimanual/rigid/bimanual_fold_glasses.py": "15a84f33b2f7e52515c22e39971d0f175b6109cfffacee9fb1f89a8e833ae7b6",
+    "dexsuite/environments/bimanual/rigid/__init__.py": "9c89f8d81903b32be50c4576fbb31bb2e7d3748a85017e8fd55e515d7b74e967",
+    "dexsuite/models/__init__.py": "5e964f65a4b040b9051681a3d9822f8bb02fee5a93ada825e59c5acd93ae20cd",
+    "dexsuite/models/textures/__init__.py": "fa90c1950b1b976cff1ed4096a97577f49ffedb4704a1c4fe22f8297de35c43b",
+    "dexsuite/models/grippers/__init__.py": "ca0794f50175accd0b2e30c3f77e277e10f13d21fed9ae58a460f49959576c7f",
+    "dexsuite/models/grippers/robotiq/__init__.py": "c6243fe2c405adb4f2ae60e9c877bfbf3d598cb2983f16ab4541440c3089d120",
+    "dexsuite/models/grippers/robotiq/robotiq.py": "e6eda0b8e1851b972d341ef5ee6bc21fe717ff1ef0fd7ff2ddf4051b988ebaa4",
+    "dexsuite/models/grippers/barrett/barrett.py": "bbdd54b0256a409e209c809f6ee8ae2f64dcea042fda8a3aaa989e8c5d006cea",
+    "dexsuite/models/grippers/barrett/__init__.py": "0c91fe54b543cc375abc2d88e3278de5ae6bb727edc1889e9f646523a4adb6f7",
+    "dexsuite/models/grippers/schunk/schunk.py": "9520a2c5dd797d22b5be7035558f52557d013f74d02c3fb61898e22bda9e589d",
+    "dexsuite/models/grippers/schunk/__init__.py": "d58c94e110b2601107e1c145a91c8e2f7af63f32a5d7ac355b98b77c183d2ceb",
+    "dexsuite/models/grippers/leap/leap.py": "103ecd2cb2fd8a8aa9c16cdc4e5571cc32f80b4425b2b89f0ca90dba5407a6e2",
+    "dexsuite/models/grippers/leap/__init__.py": "9d9d16ad43dd9184fd0b8e2dd274fb17fa7b8e93ebdd996c66d6c08b60108788",
+    "dexsuite/models/grippers/inspire/inspire.py": "d5b0ad1a88efca3313a788b558d132dff2b09e0a84c052aadd60eeb8324f0636",
+    "dexsuite/models/grippers/inspire/__init__.py": "6e21fa92978ef9815d0424af7f34be82d06851d686a8bb83a13956d8f7916b18",
+    "dexsuite/models/grippers/shadow/shadow.py": "eb25e1c1bf34e3267936f6d02fd870b2c1e78826bbf207e110d66039b544421c",
+    "dexsuite/models/grippers/shadow/__init__.py": "4067c4990633c162208c1c166955a68e58afb4ac245430ce8efbb0b10a506a50",
+    "dexsuite/models/grippers/allegro/allegro.py": "76dd0385b668847a2d9cff236530987a7359355a8da04c1c6ee9cc56c0778517",
+    "dexsuite/models/grippers/allegro/__init__.py": "aa339481a3beecb14a0992d0594519ff9317dcb13019bb3c03dfc796230171dd",
+    "dexsuite/models/grippers/ability/ability.py": "d0b29fc57099af83a7eaeb1e0cdf41e06d711d99d67b4cecd122b8f7a0cc74f7",
+    "dexsuite/models/grippers/ability/__init__.py": "780830244cee71f07e2308ecc5d7f6ec0a8c4ee927bb6a9ae9c97b59646918ad",
+    "dexsuite/models/grippers/franka_umi_tacticle/franka_umi_tacticle.py": "badda5dd4a3b3e2f022494a49b3b0bfb02f7ecacb9e20e6f5bb7a6bf5d70c265",
+    "dexsuite/models/grippers/franka_umi_tacticle/__init__.py": "d5f7bdd400572ff6f3887732b32ba2542d6a28eae2665466e732e7437abf8dad",
+    "dexsuite/models/grippers/dclaw/dclaw.py": "15aecd0bd22163855c870f6c29c05c890bfcd1ebf58ce7507acc2c7a87b3c347",
+    "dexsuite/models/grippers/dclaw/__init__.py": "43ef477bbd09b90c7a429a3db8dbd4dee5fd38f19ef29d6f94beb438c6502898",
+    "dexsuite/models/grippers/umi/umi.py": "42e5b5bf1b217e44595315c5183fef5f3981fc5e5199f506ca2a25ab8106138f",
+    "dexsuite/models/grippers/umi/__init__.py": "1a2d8382769b19f68645abbded853bf12fcc8bec62e8049842615712167ba102",
+    "dexsuite/models/grippers/sharpa/sharpa.py": "ddc36d63f5758d82d640acac8f0429f092dfff1bd048c8307715e00fffaafcc7",
+    "dexsuite/models/grippers/sharpa/__init__.py": "f0604667b7e5aa1a4d4c5020bb6eb1130111c386c586e8fe836f4427b335b873",
+    "dexsuite/models/objects/__init__.py": "e6c15b81d56241daa3396170a3f1e9959b809b97b2d4a4fc1a74bcff0738ad94",
+    "dexsuite/models/arena/arena.py": "8993c9e09a85940b74615da4b4589c08675ccd7be2a72025423e5119b9f7d7a6",
+    "dexsuite/models/arena/__init__.py": "36682518bc5409faf5f72e9e14c69fdd9ef0c47f809f10d04e7553e34415b1c3",
+    "dexsuite/models/manipulators/__init__.py": "1c93b296aea2ca83c61f2b3836af2415ebd4a004f7b0f39cdc4287f5e309a706",
+    "dexsuite/models/manipulators/ur10/__init__.py": "bc87cafc6a67183b352f4395bf48e128633907f47e67b1e2011389e0b44540e9",
+    "dexsuite/models/manipulators/ur10/ur10.py": "564caa9be8e7a7cf61bbe8a907ddfd3b54a71ca14846334bc6a7eff9ce9242c5",
+    "dexsuite/models/manipulators/link6/link6.py": "f04951dbbf09724e5719b545f5aa32431ab8dfe91d17b261ceec65d806e6a8b9",
+    "dexsuite/models/manipulators/link6/__init__.py": "73e4ca11e4e11a5cccd225e3e293e9c2e7fcd782458040a38e6587bd00ab8a9d",
+    "dexsuite/models/manipulators/floating/floating.py": "a22af693caf23cb787b89ba6866c5c78bfd10faafe9e68619fb8b9ac34b861b8",
+    "dexsuite/models/manipulators/floating/__init__.py": "dbeb2dd262654b016c75bad22fc1e2057ae881b0ea2061edfd27a11293761a53",
+    "dexsuite/models/manipulators/lite6/lite6.py": "27f0e11725837010f6dbb41e8952298b8a8026f00a3e2718ab8c34f8503b1eb4",
+    "dexsuite/models/manipulators/lite6/__init__.py": "6887cf2cb7df240d8fb43d1d0832f560171970e4fc9328b8efa9352b6fbd368f",
+    "dexsuite/models/manipulators/kuka/kuka.py": "d047d50959cd8625e592934472702e18551828d09f9071b84e7a25364648015b",
+    "dexsuite/models/manipulators/kuka/__init__.py": "9e49096a5f5beaff922df23d1fc49325c38f6bc44c4861dc8d043b47715a9bd0",
+    "dexsuite/models/manipulators/ur5/ur5.py": "55ae74d34a7dabade5c5c58fab43884adf0a763a2e3831d36a9e554fd33ea932",
+    "dexsuite/models/manipulators/ur5/__init__.py": "1eab32e8fdbdd160c670c33ce05fc63bd869e7c75ede7d8684f99222bb018db2",
+    "dexsuite/models/manipulators/so_100/so_100.py": "88faa685b70dd2eb09d446768e9cf4cb5ee8a058e4c9ca6f9a2f7d97e2452a2f",
+    "dexsuite/models/manipulators/so_100/__init__.py": "38b974129ed11c952cfa65d8f09ae73b92f960780aa18689178270b7e547c04e",
+    "dexsuite/models/manipulators/aloha_tactile/aloha_tactile.py": "dea2c0d546a06e2c744475afe6e29b59cb2e1142b025abcaf646017d82586a48",
+    "dexsuite/models/manipulators/aloha_tactile/__init__.py": "8489113bc807cd4f69f68a0294bdec6f0ad44f73bffd25c0d1188ebd64803a98",
+    "dexsuite/models/manipulators/gen3_lite/gen3_lite.py": "d2736ff4523d09950e3f3b292f0c417847dcffce7b765ea43c19361e50e73a74",
+    "dexsuite/models/manipulators/gen3_lite/__init__.py": "6b532b3651ea1ec0a8b4cc60adf05bbe24a7eed4203d5f447f838d495336799f",
+    "dexsuite/models/manipulators/trossen_vx300s/vx300s.py": "64f99654d600b415ef3ea90cdde6d1d8c914c9b176c04731aceaacb1b2866124",
+    "dexsuite/models/manipulators/trossen_vx300s/__init__.py": "39b726493971b7518e8833ad7a5bd1d4c6b9ee8525efbb74d98cb3e6ba99f304",
+    "dexsuite/models/manipulators/trossen_vx250s/__init__.py": "6b3d1cc4937eb49d5c62b586014cd56cd215c0fc26053d379a54b2dd23a3455e",
+    "dexsuite/models/manipulators/trossen_vx250s/vx250s.py": "f616c3307c0e03feea97601367031b9f753b7767ebe238f94c7d7a7c3664e38a",
+    "dexsuite/models/manipulators/franka_fr3/franka_fr3.py": "4b0e88647ba01f9bd695e5292756fa1e09e50fe999104b323f17306ba358db8c",
+    "dexsuite/models/manipulators/franka_fr3/__init__.py": "b786cbcf7678ff88f0a1e74881c12f07f2cdb5e3047b354a02f0a1775cd59458",
+    "dexsuite/models/manipulators/gen3/gen3.py": "32d4c82de229bdf87f00ae6d7282f461cd8da8e1404a6eb95f058805697d0d99",
+    "dexsuite/models/manipulators/gen3/__init__.py": "4901a5f9062fba61189c88f8bddab72476e0893a9328ad6ee99ce9ee3dd7fba8",
+    "dexsuite/models/manipulators/franka/franka.py": "9aaa143524475578e18e086cf664c09aa5cd36153ee8ca54076bed262fcd761f",
+    "dexsuite/models/manipulators/franka/franka_with_gripper.py": "cfd3a989ed4838394d58402801a4b67bf33f41e4de3acd6c3344b652ce9926c1",
+    "dexsuite/models/manipulators/franka/__init__.py": "4cd1bb0d9f96fbbd98e03e38e534039ab54bd3fb41ec5934ed27d335a5686f0c",
+    "dexsuite/models/manipulators/sawyer/sawyer.py": "4fdbbd8d50c5be22ed6cb85adf7f253665badab78747186502b963e5a725c3d7",
+    "dexsuite/models/manipulators/sawyer/__init__.py": "98b727ad48248c248ae458e4cfd80f14a5950e4103573c50c84f7e4d80578dfa",
+    "dexsuite/models/manipulators/z1/z1.py": "052e0e72c10c249a44261fec4173b7f1f9209025482e9415f4e7364b0500bec2",
+    "dexsuite/models/manipulators/z1/__init__.py": "7662446acdeebb8a6bbf8b0611ca5de9276e8fdd39112aba4289cd7150e83b0d",
+    "dexsuite/options/sim.py": "fde49db79ea83ecbbf0305b3ec50040ec05ca9d5ebbe2806041f8ecf0f5a0994",
+    "dexsuite/options/env.py": "889c8def040bb07f309109babbb76343f029cdc939b7bbeaba59efb70b6eef11",
+    "dexsuite/options/camera.py": "756ba6dbb7e7f568d57667b38df2bcecfdcfe226c682b30ba89dff50e1fc161e",
+    "dexsuite/options/validation.py": "de227ef9b98667adc2bccd4039ede0d43bdd8743ad71d6900176bce852fc6837",
+    "dexsuite/options/direct.py": "73a3ed3877c1c1ef5662bfcd4321d4d34164cf1551e3b417920b0fa4aa9d3bc0",
+    "dexsuite/options/camera_builder.py": "066d3a0963ede13ce7fd8aea62247d2b14653cf689f582774600d0e88f7faeba",
+    "dexsuite/options/builders.py": "d43fb2195714bfb12abf4126092ae14a7dfeb3227cde87dbd5c1d787b4f5b1fd",
+    "dexsuite/options/layout.py": "0955fdabce8a50772cf56e3be279a0ed1ef2e2dfc3abe6d6761a67d677da4e3d",
+    "dexsuite/options/robot.py": "5e7dd7b0c1fed3ab2d9f62e5d02018cf441833a92f659c706ae61cf8e18d2b82",
+    "dexsuite/options/options.py": "ed8b1ebdfee519df8e7801dfaa2b426fb8bdbd63e69c30e659b1d4064dc2407a",
+    "dexsuite/options/__init__.py": "8684b4cbe30c69b8c86b6bb4b37655708145c12350ca60796bbae7b6ab8708ec",
+    "dexsuite/config/__init__.py": "b30dea69b94d55131e47e1f6a86e2bb3a2c6cd1e656208dc6292ec4d660da258",
+    "dexsuite/utils/finger_contacts.py": "a6af31b8b9453afd72034753631e2ca6b2c01028405ad57346816c19b679d965",
+    "dexsuite/utils/camera_utils.py": "278b972f412d59ba9c404a2f040aee67b1e5b298378e0493fe2261a3877888d6",
+    "dexsuite/utils/attached_dynamics.py": "212bb70a114832cc8a051fa50895fd20eb480607b4d2c306a0aca16d845b306c",
+    "dexsuite/utils/circular_spray.py": "80f2a60e03329d5fbba70e5152a17f1e258fda0fc8cab20694ac073d2d2413e2",
+    "dexsuite/utils/workspace_utils.py": "07de31ddf0e6c7bafb969c1a546a1df113658199616f8b2922ccc3b46856ac9a",
+    "dexsuite/utils/articulation_utils.py": "806d40dbbc32fd4280b58b5fd1756342aa770f1f296e1eac720639bdc46414d0",
+    "dexsuite/utils/paint_canvas.py": "f413853299bef40607e6e3d1b835ad801d375bd05f5a6a06f958d4c4f214afa0",
+    "dexsuite/utils/viewer_utils.py": "b39e52d74c27d701d9e64b9c56ca45d1cd275720efcc50858f9866cbf8db4566",
+    "dexsuite/utils/randomizers.py": "bea5dc7eee8ef9f74b2a0e8b9d7ed1e9512ff9bedb1655d44afaed54f7c98cb9",
+    "dexsuite/utils/action_utils.py": "4909f501e4f1f49bf7825dbb663d5d802199d7e8f0b1303bc93ddb25d1d4ef27",
+    "dexsuite/utils/lerobot_logger.py": "93deb9d279f859aa42c47fd8c4d6e193efbceed682a00acb45c9dc20ee4478aa",
+    "dexsuite/utils/tactile_utils.py": "555991107e18e98b360bb28fccebf5bf2bd565dc837ed6f7a38ee1a4de131fdf",
+    "dexsuite/utils/aabb.py": "ead27965abf1181dba76fe7bd95582043ba9aca87b0e363fc9294817c5d92d48",
+    "dexsuite/utils/robot_utils.py": "23ef0f9ade696da1af142fbac65c2639a03af8f84817fdece96b880c8d56ba9a",
+    "dexsuite/utils/orientation_utils.py": "14fdcda69cbf946f5543545a1684c1d8f73ec77b0fd2f725d628de253ee19dbb",
+    "dexsuite/utils/space_utils.py": "9f4f79d9adfd5d88dccb3503dff3609e52d2c49bcba469a40edb0994a47cdf55",
+    "dexsuite/utils/options_utils.py": "74772404f369d0d116d8c57eb2a5e7a3c8f4f5cd6cd23b0b9cb23667a18b3288",
+    "dexsuite/utils/status.py": "b59879070b3bd14a7088c4a4a87a704536fdbe12df1f868b0f835f9261d78507",
+    "dexsuite/utils/models_utils.py": "7a1a3d69cfc4b9a49ff71e89d0d46c080d445bb28f59715b79313136f4d3fffb",
+    "dexsuite/utils/globals.py": "163b4102cad2b15bfc8584cca748e64cfaa965032fe9fdacea710f0d5929f1c9",
+    "dexsuite/utils/__init__.py": "3249c886b1b3e3987386dd0498afa4ffac907eec3427d5156984f68fc7eb815b",
+    "dexsuite/utils/mjcf_utils.py": "3cdaee4d22f3c07908e3b0e2db5fc34b5567bf8d7a832f67fd72147231cc540b",
+    "dexsuite/core/registry.py": "b2175bc68aa4739a25a9601895cb29ddab9e5ad7c8ed5ac66af341513cbac6aa",
+    "dexsuite/core/camera.py": "ce7db31e19c24e2e96a30a66eb4bf0673fee4c3e0dd91201b632e76f53bb6b55",
+    "dexsuite/core/__init__.py": "f9d5a5580c9898650f469a3ac10767f86e354cf79d1a0f1d42d8f41e4ddca1a3",
+    "dexsuite/core/components/gripper.py": "b1deb9f8e3ad5e1696812bfd8e96381d0aa3f9a618d714a50bdce6d69f3a60e3",
+    "dexsuite/core/components/base.py": "63737886242ad12faa00e499884045a7e91f3eeb48f45dc1e5a71e9e74d91214",
+    "dexsuite/core/components/mount.py": "b30cea363302f599c3fda7df2f27a54d2edb4ccd19db20cc42d435c17b87aa2a",
+    "dexsuite/core/components/__init__.py": "8896be3e30a2c52eaccd3f9c76d019938552e783be9a54cf8a9e09531a41f315",
+    "dexsuite/core/components/arm.py": "b3b373c0135e28fbdde515eef45d29ebb89feafd79869a65b8e2bfe8894587e0",
+    "dexsuite/core/robots/modular_robot.py": "7d53a5887834ea146a5477d8587faea5fc3a1c30b419bff85ffcfede760928e4",
+    "dexsuite/core/robots/bimanual_robot.py": "b3ae5e57e13d21556736654b869550f3ac300ab899326e427d200bfb6283a104",
+    "dexsuite/core/robots/integrated_robot.py": "b86a918119e2a6e840a78d8e5dd4faa4073b7f2f36fa6be56e72ff7b2408f25d",
+    "dexsuite/core/robots/__init__.py": "6b6d8a4a70a8d789c15660946fbaf4393b8d8ba493c486426c71f56131af1cf0",
+    "dexsuite/core/robots/factory.py": "63580a21bdbc7c0df37122615085a0cac69007f14c827e1c4addfdb3cde1482b",
+    "dexsuite/devices/keyboard.py": "1c96924a6ed0b0c4faaf7d9e338b7e4ff572917950eb4676f18b54866b003b86",
+    "dexsuite/devices/vive_controller.py": "d8b60792b62e3ee5483fa05d0631bf29baef28c8e0a2675d5b70f7063bd67c7f",
+    "dexsuite/devices/spacemouse.py": "4357b1a43795c0c7bf6e151425a697477d6fd8611af4291db49bfeb2dcf23139",
+    "dexsuite/devices/vive_tracker.py": "06f42b05624a30d2707dbae0a3c5aa5b3d0c6bd6c921e2cb83e2110b087891a1",
+    "dexsuite/devices/tracker_zmq.py": "71c7e4ee46b402bf4f2224cdeb2fb225f689fc495366fe984f2c517b7bcc6738",
+    "dexsuite/devices/vive_controller_zmq_server.py": "af0186be23591ebe1ead33b5e3bf6f424595251c9e62ddb4ef307efc821c6d0f",
+    "dexsuite/devices/reset_helper.py": "a96f5b009380449c0ce7772018c1938fa3bbba1881d4411c66f6c42355581956",
+    "dexsuite/devices/vive_tracker_zmq_server.py": "0e53920e702e92f63193c84d7d3b30ba71101f3cf128f92afa94b0dfdb069877",
+    "dexsuite/devices/vive_publisher_lighthouse.py": "05fc2e8c5c6fd1926b7b15c255269700d3be85bce1936b01bd7dbb38fd47f6e5",
+    "dexsuite/devices/vive_tracker_zmq.py": "664f32c73806ca31ad148a82ec17762b4c43cc0f2512587100ca5345f6ac2ea1",
+    "dexsuite/devices/external_reset_helper.py": "103d6deeb2c8abb16b3d5073183b64b04f641f81461ffb97fb1a2542950ef4a1",
+    "dexsuite/devices/vive_controller_zmq.py": "127767c17b1a7a8e4ea8572abc1a9facd9fc97b1b4fd50b7418e0469affd837d",
+    "dexsuite/devices/survive_utils.py": "fdb6abf176594151fb3655dbda5defe52396d0feb78faeb20a42b3a70bdeb398",
+    "dexsuite/devices/manus_geort.py": "3eedf939775e81ee1d09fdf95321e8daab1bfb6425a8b24e6f1f618f48c34219",
+    "dexsuite/devices/triad_utils.py": "18cc26542405e36fca5c91bb738c4866adac26b4949d32e366a67e7c316780c9",
+    "dexsuite/devices/__init__.py": "8ee42bec0946868ef359c723e3251704f507df9304f966196d22af9344fbd827",
+    "dexsuite/devices/device.py": "4f272286140a96272eb8577e3c33df20b0012195172752bc645e73d4d4de214f",
+    "dexsuite/devices/vive_publisher_steamvr.py": "33d2285fe1292e5a600f88248463d085b36ca59de921159be75fd443a9d1453c",
+    "dexsuite/controllers/validation.py": "190c8edb8e8e82139555beb36f39e0ce70cb18361d4f720b097bea152dd127fe",
+    "dexsuite/controllers/osc_pose.py": "d6ea411fe1fc243e6d9ed3f2d1ac6f16249cfccb8df126202f743bf4daee6762",
+    "dexsuite/controllers/joint_torque.py": "0c1ad3884d148dc3dfac28301cefd10d9b1a52150be5d21e8cb26353cef406aa",
+    "dexsuite/controllers/ik_pose.py": "0d82b52e6189c70e4206c62b43f0a85da3adce806c68b8ee5f0b18d15da8014b",
+    "dexsuite/controllers/osc_pose_abs_quat.py": "3490b05cd05d2f1b71ae2aee1951ce2be29350b47de0ecdb59029f3e57735573",
+    "dexsuite/controllers/joint_velocity.py": "bd54fb05160c804e94e04e0b7b7cdf5579e6e163b58c3c1974cdb0164d0955b5",
+    "dexsuite/controllers/base_controller.py": "d9876820533a3c55e8b611c44209249b97214a51a13084fd78e6d9488492271c",
+    "dexsuite/controllers/pose_backend.py": "cad633e45fafd6dc08e82f1e43b7c8f0f1679628b410c28c29fa90bd9f0f15ab",
+    "dexsuite/controllers/osc_pose_abs.py": "842f3b2a6baba6f406ffcd082127c60f7a5418a82b5898ffbe2d77eef23b8c95",
+    "dexsuite/controllers/__init__.py": "ff116415ae13fbe9742ccb5ee52ca339c50ee722dc603bf5f0e054107c0492e6",
+    "dexsuite/controllers/joint_position.py": "076238fc42dd9fd77e24e45a3011348e97a0996a1976fdaac6dd0699ee6ba449",
+    "dexsuite/controllers/backends/mink.py": "a62e23faf24bc20d4dee8afdb4c1617c0439685e75ec6525beed1ffa05f71f6c",
+    "dexsuite/controllers/backends/genesis_internal.py": "6bf30492e16a9f37786f9e6244bc79b7f382f3f41e6b50bbb30dfed56eb7afac",
+    "dexsuite/controllers/backends/__init__.py": "ef69fadca0c3b7895f40040ea65e0dbfdb8c40f1a1361468e5443877a6964572"
+  },
+  "phase_rule_sha256": "4fb67e667477fb27e6cddd17ba09584fdc408568c28ccdcfcfcc5faf91db6972",
+  "cameras_sha256": "90f8162a96d9caf58c333d86ff2cae7a1e904bf43b8bea70503359240c40e34d"
+}

meta/controller_episodes/episode_000000.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25600,
+  "scene_seed": 5600,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 338,
+  "recorded": true,
+  "first_success_tick": 338,
+  "post_success_error": null,
+  "command_hash": "e45d9d407db29e3a9fb6a9f6dbef00ede4c5a216b7e6d2e7d30c9028f2bb9520",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5600,
+    "style": 25600,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.6623491565425181,
+      "width": 0.03512756293603705,
+      "minimum_speed_fraction": 0.043182352445716596
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.009209961669629362,
+      -0.02857003363413864,
+      0.03750113212736904
+    ],
+    "initial_wrist_xyz_deg": [
+      11.778775975525022,
+      4.965023995467053,
+      -7.494863185341665
+    ],
+    "initial_position": [
+      0.3677900433540344,
+      -0.028570033609867096,
+      0.5578011274337769
+    ],
+    "initial_fingers": [
+      0.4420476257801056,
+      0.22263731062412262,
+      0.2358543574810028,
+      0.31460416316986084,
+      0.0,
+      -0.05112804099917412,
+      0.04368557035923004,
+      0.013247012160718441,
+      -0.03708671033382416,
+      0.38799160718917847,
+      0.22413596510887146,
+      0.3448978364467621,
+      0.2993561029434204,
+      0.4320409297943115,
+      -0.073499396443367,
+      0.03472080081701279,
+      0.22994039952754974,
+      0.188923180103302,
+      0.21082468330860138,
+      0.4420713186264038,
+      0.1646031141281128,
+      0.19571922719478607
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": 6.338568947333521
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.327419268002543,
+      "entry": [
+        0.5236429846660818,
+        0.2863913966966258,
+        0.4855554571655827
+      ],
+      "mid": [
+        0.4500910330005748,
+        0.04792016216877035,
+        0.5255554571655827
+      ],
+      "offset_cmd": [
+        0.08512401264368871,
+        0.027405267407520275,
+        0.19085856317060307
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5939767873537627,
+        0.06799441124904981,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5600,
+      "style": 25600
+    },
+    {
+      "tick": 71,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 101,
+      "kind": "bread_lift",
+      "bottom_z": 0.024049798026680946,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 168,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0102246467859484,
+      "tilt_deg": 5.848151042120487
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5963402986526489,
+      0.22064748406410217,
+      0.17158392071723938
+    ],
+    "toast_quat": [
+      0.7998540997505188,
+      -0.04106692969799042,
+      -0.5961269736289978,
+      -0.05638594552874565
+    ],
+    "toast_vel": [
+      9.55894029175397e-06,
+      -2.261332383568515e-06,
+      -5.484211214934476e-06
+    ],
+    "toast_ang": [
+      -3.6029654438607395e-05,
+      0.00026547120069153607,
+      -1.3819506420986727e-05
+    ],
+    "toast_aabb_lo": [
+      0.570346474647522,
+      0.17114156484603882,
+      0.1215880960226059
+    ],
+    "toast_aabb_hi": [
+      0.6223341226577759,
+      0.2701534032821655,
+      0.22157974541187286
+    ],
+    "toast_in_toaster_frame": [
+      0.008516673929989338,
+      0.01874152198433876,
+      0.0848839208483696
+    ],
+    "toaster_pos": [
+      0.613726019859314,
+      0.20962409675121307,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7543562054634094,
+      0.0,
+      0.0,
+      0.6564653515815735
+    ],
+    "lever_q": [
+      -0.06724949926137924
+    ],
+    "lever_frac": [
+      0.8302407264709473
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.07160019874572754,
+      -0.017277445644140244,
+      -0.38396626710891724,
+      0.9478482007980347,
+      -0.08449984341859818,
+      -0.07228294759988785,
+      0.2986949682235718,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.24329312145709991,
+      0.0,
+      -0.2199999988079071,
+      0.02707122080028057,
+      -0.005996664986014366,
+      -0.013142120093107224,
+      0.27541089057922363,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.4269629120826721,
+      -0.07266981899738312,
+      0.07150810211896896,
+      0.30000001192092896,
+      0.25,
+      0.15581175684928894,
+      0.35985296964645386,
+      1.100000023841858,
+      0.2109525054693222
+    ],
+    "last_action": [
+      0.07160019874572754,
+      -0.017277445644140244,
+      -0.38018929958343506,
+      0.9478482007980347,
+      -0.08449984341859818,
+      -0.07228294759988785,
+      0.2986949682235718,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.24329312145709991,
+      0.0,
+      -0.2199999988079071,
+      0.02707122080028057,
+      -0.005996664986014366,
+      -0.013142120093107224,
+      0.27541089057922363,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.4269629120826721,
+      -0.07266981899738312,
+      0.07150810211896896,
+      0.30000001192092896,
+      0.25,
+      0.15581175684928894,
+      0.35985296964645386,
+      1.100000023841858,
+      0.2109525054693222
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 338,
+    "seconds": 16.9,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.27292830826051584,
+    "command_speed_max_m_s": 0.4022844399703752,
+    "command_acceleration_p95_m_s2": 0.5604207593751456,
+    "command_jerk_p95_m_s3": 2.248977498109099,
+    "finger_range_rad": [
+      1.007748156785965,
+      0.4790038391947746,
+      1.2138779163360596,
+      1.206706926226616,
+      0.0,
+      0.2979062385857105,
+      0.32202877290546894,
+      0.2059966679662466,
+      0.23703442513942719,
+      1.1745891571044922,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.100401133298874,
+      0.97303706407547,
+      0.27343907952308655,
+      0.30613160505890846,
+      1.1661401987075806,
+      0.810897946357727,
+      0.8441882431507111,
+      1.0401470065116882,
+      0.9352269917726517,
+      0.8041034042835236
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6478779881208306,
+        "mean_palm_x": -0.5186172744916017
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6706690677240472,
+        "mean_palm_x": -0.7016615521952975
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6707817918137768,
+        "mean_palm_x": -0.6918470912670673
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.27292830826051584,
+        "mean_palm_x": -0.392296804346414
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.27836025041890966,
+        "mean_palm_x": -0.1732811890738767
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2809555231805585,
+        "mean_palm_x": -0.1719954785738672
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3857811856290356,
+        "mean_palm_x": -0.014891506873650625
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8842889180587611,
+        "mean_palm_x": 0.002181618519304588
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 0,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 0
+  }
+}

meta/controller_episodes/episode_000001.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25601,
+  "scene_seed": 5601,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 322,
+  "recorded": true,
+  "first_success_tick": 322,
+  "post_success_error": null,
+  "command_hash": "6d3be271af81e009b119d94d5e96ae591d2fd549e15a3ee3236dd5a8c978c35a",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5601,
+    "style": 25601,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.3055414527635453,
+      "width": 0.043747157503384454,
+      "minimum_speed_fraction": 0.09799036806278313
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.002551858043306744,
+      -0.003215767884920548,
+      -0.020697690296206384
+    ],
+    "initial_wrist_xyz_deg": [
+      -5.953404619855832,
+      8.231117716005734,
+      3.091663989932368
+    ],
+    "initial_position": [
+      0.37955185770988464,
+      -0.0032157679088413715,
+      0.4996022880077362
+    ],
+    "initial_fingers": [
+      0.6007221937179565,
+      0.21872270107269287,
+      0.33082032203674316,
+      0.24764487147331238,
+      0.0,
+      -0.13279922306537628,
+      0.019005868583917618,
+      -0.010652312077581882,
+      -0.04045461490750313,
+      0.34087610244750977,
+      0.26608628034591675,
+      0.3662862181663513,
+      0.33879348635673523,
+      0.3424742519855499,
+      -0.027615131810307503,
+      0.033180706202983856,
+      0.12807416915893555,
+      0.20462104678153992,
+      0.18099625408649445,
+      0.2958451509475708,
+      0.1834542155265808,
+      0.173032745718956
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 0,
+      "heading_deg": -67.73296743759221
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.8435228893580513,
+      "entry": [
+        0.46582642155033277,
+        0.2667716950528063,
+        0.46587793850705655
+      ],
+      "mid": [
+        0.45536726691892704,
+        0.053764107840867714,
+        0.5058779385070565
+      ],
+      "offset_cmd": [
+        0.08761323889161433,
+        0.018315281795021322,
+        0.1852574810249265
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5874118846681115,
+        0.06282456969319197,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5601,
+      "style": 25601
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.030590366572141647,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 153,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0019050558637176032,
+      "tilt_deg": 4.842049158440142
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5773082375526428,
+      0.21721385419368744,
+      0.17019593715667725
+    ],
+    "toast_quat": [
+      0.5882572531700134,
+      -0.43036121129989624,
+      -0.4216795563697815,
+      0.5393782258033752
+    ],
+    "toast_vel": [
+      -9.208883056999184e-06,
+      2.039288119703997e-06,
+      5.3843755267735105e-06
+    ],
+    "toast_ang": [
+      6.310433673206717e-05,
+      -0.0002665677457116544,
+      9.629920896259136e-06
+    ],
+    "toast_aabb_lo": [
+      0.5559994578361511,
+      0.16463541984558105,
+      0.12159273028373718
+    ],
+    "toast_aabb_hi": [
+      0.5986170172691345,
+      0.2697922885417938,
+      0.2187991589307785
+    ],
+    "toast_in_toaster_frame": [
+      0.010516216978430748,
+      0.019258959218859673,
+      0.08349593728780746
+    ],
+    "toaster_pos": [
+      0.5959083437919617,
+      0.20557193458080292,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7278103828430176,
+      0.0,
+      0.0,
+      0.6857784986495972
+    ],
+    "lever_q": [
+      -0.0670211911201477
+    ],
+    "lever_frac": [
+      0.8274221420288086
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.052720244973897934,
+      -0.046674493700265884,
+      -0.3220076560974121,
+      0.9718329906463623,
+      0.06603357940912247,
+      -0.058814533054828644,
+      0.2184516191482544,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3310166597366333,
+      0.0,
+      -0.2199999988079071,
+      0.041857700794935226,
+      -0.013885613530874252,
+      -0.0030494537204504013,
+      0.29202303290367126,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.4224008023738861,
+      -0.06630294770002365,
+      0.07219021022319794,
+      0.30000001192092896,
+      0.25,
+      0.19181901216506958,
+      0.3398190438747406,
+      1.100000023841858,
+      0.14626525342464447
+    ],
+    "last_action": [
+      0.052720244973897934,
+      -0.046674493700265884,
+      -0.31813696026802063,
+      0.9718329906463623,
+      0.06603357940912247,
+      -0.058814533054828644,
+      0.2184516191482544,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3310166597366333,
+      0.0,
+      -0.2199999988079071,
+      0.041857700794935226,
+      -0.013885613530874252,
+      -0.0030494537204504013,
+      0.29202303290367126,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.4224008023738861,
+      -0.06630294770002365,
+      0.07219021022319794,
+      0.30000001192092896,
+      0.25,
+      0.19181901216506958,
+      0.3398190438747406,
+      1.100000023841858,
+      0.14626525342464447
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 322,
+    "seconds": 16.1,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.24904253254459266,
+    "command_speed_max_m_s": 0.36986441608795034,
+    "command_acceleration_p95_m_s2": 0.5891650594742184,
+    "command_jerk_p95_m_s3": 2.2807333546558146,
+    "finger_range_rad": [
+      0.8490201234817505,
+      0.4790038391947746,
+      1.1188039481639862,
+      1.2019514739513397,
+      0.0,
+      0.21622814238071442,
+      0.3299832921475172,
+      0.2138856165111065,
+      0.2403738833963871,
+      1.1579770147800446,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0608501732349396,
+      1.0571706593036652,
+      0.2663029506802559,
+      0.30765078589320183,
+      1.2678576111793518,
+      0.795111894607544,
+      0.8187287598848343,
+      1.1037840843200684,
+      0.9162934571504593,
+      0.8537347465753555
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.24904253254459266,
+        "mean_palm_x": -0.35386063847197075
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.25533882890613274,
+        "mean_palm_x": -0.4396520022638954
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.25283761340343314,
+        "mean_palm_x": -0.43317935424192655
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.26383711495302614,
+        "mean_palm_x": -0.15441458504339514
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4564573898492054,
+        "mean_palm_x": 0.03578290803891786
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.45646258030915576,
+        "mean_palm_x": 0.03525969668032988
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5424824977317042,
+        "mean_palm_x": 0.02041766690765732
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8781753656457021,
+        "mean_palm_x": 0.0007169972176840789
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 1,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 1
+  }
+}

meta/controller_episodes/episode_000002.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25602,
+  "scene_seed": 5602,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 325,
+  "recorded": true,
+  "first_success_tick": 325,
+  "post_success_error": null,
+  "command_hash": "5fcaf2affae00fd2817ce1cadb61b249ed37697bdb2b24cde5e76a9ea5d84fc3",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5602,
+    "style": 25602,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.3007523493553361,
+      "width": 0.03774632251086611,
+      "minimum_speed_fraction": 0.027431711995571432
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.0029767370717631927,
+      0.016523175286101505,
+      0.015751193835626925
+    ],
+    "initial_wrist_xyz_deg": [
+      7.841578994504314,
+      -10.51704626294051,
+      -11.603294502255096
+    ],
+    "initial_position": [
+      0.3740232586860657,
+      0.016523174941539764,
+      0.5360511541366577
+    ],
+    "initial_fingers": [
+      0.5447589159011841,
+      0.2842210829257965,
+      0.28878509998321533,
+      0.3580267131328583,
+      0.0,
+      -0.07508322596549988,
+      0.013754177838563919,
+      0.022489966824650764,
+      -0.023953037336468697,
+      0.388407438993454,
+      0.22500523924827576,
+      0.3373192250728607,
+      0.39293763041496277,
+      0.3835492432117462,
+      -0.07088414579629898,
+      0.03386873006820679,
+      0.12567420303821564,
+      0.1697283536195755,
+      0.2163424789905548,
+      0.3816224932670593,
+      0.23583658039569855,
+      0.13110597431659698
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 3,
+      "heading_deg": -25.353868639781346
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.8062920305876706,
+      "entry": [
+        0.4694221926296275,
+        0.27133569734329843,
+        0.472538601233096
+      ],
+      "mid": [
+        0.44369275930347646,
+        0.06244238027450871,
+        0.512538601233096
+      ],
+      "offset_cmd": [
+        0.0906529582966892,
+        0.018992865059819033,
+        0.1856241891926999
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.588284959219019,
+        0.06798181125524319,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5602,
+      "style": 25602
+    },
+    {
+      "tick": 70,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 100,
+      "kind": "bread_lift",
+      "bottom_z": 0.02784598246216774,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 156,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0061624185510673075,
+      "tilt_deg": 6.654763281165757
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5712580680847168,
+      0.2282782644033432,
+      0.1720552295446396
+    ],
+    "toast_quat": [
+      0.026647081598639488,
+      0.62873774766922,
+      0.0008375472971238196,
+      -0.7771602272987366
+    ],
+    "toast_vel": [
+      -5.4723323046346195e-06,
+      1.3859470016086561e-07,
+      3.952127826778451e-06
+    ],
+    "toast_ang": [
+      -3.2172051760426257e-06,
+      -0.00013185916759539396,
+      8.20262243905745e-07
+    ],
+    "toast_aabb_lo": [
+      0.5534761548042297,
+      0.17709580063819885,
+      0.12158827483654022
+    ],
+    "toast_aabb_hi": [
+      0.5890399813652039,
+      0.27946072816848755,
+      0.22252218425273895
+    ],
+    "toast_in_toaster_frame": [
+      0.016854599118232727,
+      0.02076958306133747,
+      0.0853552296757698
+    ],
+    "toaster_pos": [
+      0.5916279554367065,
+      0.21094273030757904,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7153242826461792,
+      0.0,
+      0.0,
+      0.6987926959991455
+    ],
+    "lever_q": [
+      -0.06814950704574585
+    ],
+    "lever_frac": [
+      0.8413519859313965
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.05913345143198967,
+      -0.06128009036183357,
+      -0.3584560751914978,
+      0.9325954914093018,
+      -0.09503829479217529,
+      0.06296229362487793,
+      0.3424457311630249,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.28344252705574036,
+      0.0,
+      -0.2199999988079071,
+      0.04154518246650696,
+      -0.0019100116332992911,
+      -0.04623107984662056,
+      0.3308244049549103,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3460973799228668,
+      -0.028626101091504097,
+      0.04044385254383087,
+      0.30000001192092896,
+      0.25,
+      0.11938007175922394,
+      0.3721392750740051,
+      1.100000023841858,
+      0.08816514909267426
+    ],
+    "last_action": [
+      0.05913345143198967,
+      -0.06128009036183357,
+      -0.3545853793621063,
+      0.9325954914093018,
+      -0.09503829479217529,
+      0.06296229362487793,
+      0.3424457311630249,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.28344252705574036,
+      0.0,
+      -0.2199999988079071,
+      0.04154518246650696,
+      -0.0019100116332992911,
+      -0.04623107984662056,
+      0.3308244049549103,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3460973799228668,
+      -0.028626101091504097,
+      0.04044385254383087,
+      0.30000001192092896,
+      0.25,
+      0.11938007175922394,
+      0.3721392750740051,
+      1.100000023841858,
+      0.08816514909267426
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 325,
+    "seconds": 16.25,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.44863440240735397,
+    "command_speed_max_m_s": 0.37653103309681385,
+    "command_acceleration_p95_m_s2": 0.595562867406603,
+    "command_jerk_p95_m_s3": 2.280423867133658,
+    "finger_range_rad": [
+      0.9050329327583313,
+      0.4790038391947746,
+      1.160921335220337,
+      1.1665575206279755,
+      0.0,
+      0.27394748479127884,
+      0.33526102732867,
+      0.20191001461353153,
+      0.2462310828268528,
+      1.1191756427288055,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0068077147006989,
+      1.0539025962352753,
+      0.2708156555891037,
+      0.306977741420269,
+      1.2703479081392288,
+      0.8300617188215256,
+      0.8806199282407761,
+      1.027860701084137,
+      0.8639866560697556,
+      0.9118348509073257
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.9,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5761657926335072,
+        "mean_palm_x": -0.48871644159658895
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.610855564560622,
+        "mean_palm_x": -0.7305412706540905
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6051327501082456,
+        "mean_palm_x": -0.7367042263827575
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.44863440240735397,
+        "mean_palm_x": -0.34641330929889846
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4540418058150366,
+        "mean_palm_x": -0.06007920388297428
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.45499403117687576,
+        "mean_palm_x": -0.05965320422219707
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5413235258342447,
+        "mean_palm_x": 0.006385335812600556
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8772262949444282,
+        "mean_palm_x": 0.0018747695600625698
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 2,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 2
+  }
+}

meta/controller_episodes/episode_000003.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25603,
+  "scene_seed": 5603,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 322,
+  "recorded": true,
+  "first_success_tick": 322,
+  "post_success_error": null,
+  "command_hash": "8cd9f8bb75abf3a56e2ee84ddb2fcc606318fc7b6377840d564334d97cf91dbe",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5603,
+    "style": 25603,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.44186027890688667,
+      "width": 0.03308872339523487,
+      "minimum_speed_fraction": 0.09059046564696294
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.00012184948187353439,
+      -0.036568763273752074,
+      -0.027625054266024032
+    ],
+    "initial_wrist_xyz_deg": [
+      -3.61284964650082,
+      -8.389708101527503,
+      7.336208753719976
+    ],
+    "initial_position": [
+      0.37712186574935913,
+      -0.036568764597177505,
+      0.49267491698265076
+    ],
+    "initial_fingers": [
+      0.43429258465766907,
+      0.2664772570133209,
+      0.2983521521091461,
+      0.28915101289749146,
+      0.0,
+      -0.11622083187103271,
+      0.043849680572748184,
+      0.013575061224400997,
+      -0.011970741674304008,
+      0.3060646951198578,
+      0.22904416918754578,
+      0.34089943766593933,
+      0.4127972424030304,
+      0.4058000445365906,
+      -0.07351429760456085,
+      0.028941014781594276,
+      0.09162840247154236,
+      0.1573912352323532,
+      0.20185960829257965,
+      0.3367815315723419,
+      0.13785700500011444,
+      0.23700332641601562
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": -43.56111165199692
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.8666421726056304,
+      "entry": [
+        0.49041674346176406,
+        0.26251329311973737,
+        0.48653993450489424
+      ],
+      "mid": [
+        0.44908737048729075,
+        0.05152492140356146,
+        0.5265399345048942
+      ],
+      "offset_cmd": [
+        0.09330325982908115,
+        0.027244865012050448,
+        0.18721339659375574
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.6070782648848916,
+        0.0736582800661085,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5603,
+      "style": 25603
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.022790882736444473,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 153,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.004688562248188561,
+      "tilt_deg": 1.5494945271575975
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5791741013526917,
+      0.22391027212142944,
+      0.17011737823486328
+    ],
+    "toast_quat": [
+      0.5812411308288574,
+      0.4370160400867462,
+      -0.40629711747169495,
+      -0.5532615184783936
+    ],
+    "toast_vel": [
+      -1.0036787898570765e-05,
+      9.305282446803176e-07,
+      5.790765044366708e-06
+    ],
+    "toast_ang": [
+      8.682477346155792e-05,
+      -0.0002505965530872345,
+      2.0634757674997672e-05
+    ],
+    "toast_aabb_lo": [
+      0.5568099021911621,
+      0.17328205704689026,
+      0.12159953266382217
+    ],
+    "toast_aabb_hi": [
+      0.6015383005142212,
+      0.27453848719596863,
+      0.2186352163553238
+    ],
+    "toast_in_toaster_frame": [
+      0.008587691001594067,
+      0.0193772092461586,
+      0.0834173783659935
+    ],
+    "toaster_pos": [
+      0.5990052223205566,
+      0.21643021702766418,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.6868570446968079,
+      0.0,
+      0.0,
+      0.726792573928833
+    ],
+    "lever_q": [
+      -0.06545855104923248
+    ],
+    "lever_frac": [
+      0.8081302642822266
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.07602641731500626,
+      -0.004904275294393301,
+      -0.31505221128463745,
+      0.9810757637023926,
+      0.017815865576267242,
+      0.07756516337394714,
+      0.176512211561203,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.293403297662735,
+      0.0,
+      -0.2199999988079071,
+      0.010031186044216156,
+      -0.01721971482038498,
+      -0.04139058291912079,
+      0.3597397208213806,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3550902307033539,
+      -0.02696244977414608,
+      0.06542270630598068,
+      0.30000001192092896,
+      0.25,
+      0.12451434880495071,
+      0.3778104782104492,
+      1.100000023841858,
+      0.12580348551273346
+    ],
+    "last_action": [
+      0.07602641731500626,
+      -0.004904275294393301,
+      -0.31118154525756836,
+      0.9810757637023926,
+      0.017815865576267242,
+      0.07756516337394714,
+      0.176512211561203,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.293403297662735,
+      0.0,
+      -0.2199999988079071,
+      0.010031186044216156,
+      -0.01721971482038498,
+      -0.04139058291912079,
+      0.3597397208213806,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3550902307033539,
+      -0.02696244977414608,
+      0.06542270630598068,
+      0.30000001192092896,
+      0.25,
+      0.12451434880495071,
+      0.3778104782104492,
+      1.100000023841858,
+      0.12580348551273346
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 322,
+    "seconds": 16.1,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.41395513671396433,
+    "command_speed_max_m_s": 0.3740234180405696,
+    "command_acceleration_p95_m_s2": 0.6007356431973528,
+    "command_jerk_p95_m_s3": 2.4352221317191534,
+    "finger_range_rad": [
+      1.0153785943984985,
+      0.4790038391947746,
+      1.1512424051761627,
+      1.1604402959346771,
+      0.0,
+      0.23279716819524765,
+      0.33906880766153336,
+      0.21721971780061722,
+      0.24139058589935303,
+      1.1435325741767883,
+      1.4726269915699959,
+      0.7218103408813477,
+      0.986855149269104,
+      1.0449097454547882,
+      0.27341799437999725,
+      0.31188606657087803,
+      1.304272636771202,
+      0.8423120826482773,
+      0.8754856511950493,
+      1.0628440976142883,
+      0.961862325668335,
+      0.8741965144872665
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4352155311720509,
+        "mean_palm_x": -0.4329098636803206
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.49241454133128193,
+        "mean_palm_x": -0.6487250278529973
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4495907521853932,
+        "mean_palm_x": -0.6321433520150285
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4142192604655849,
+        "mean_palm_x": -0.3926417618622541
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.41395513671396433,
+        "mean_palm_x": -0.20880153811863314
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.413962924735201,
+        "mean_palm_x": -0.20728881366848217
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5021310151644187,
+        "mean_palm_x": -0.038149613195688166
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8838060689733505,
+        "mean_palm_x": 0.0045180051908174975
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 3,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 3
+  }
+}

meta/controller_episodes/episode_000004.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25604,
+  "scene_seed": 5604,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 325,
+  "recorded": true,
+  "first_success_tick": 325,
+  "post_success_error": null,
+  "command_hash": "2c03bedc53591306f91d5ee320c9cb731b02182f3459786954e29269e6438c0b",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5604,
+    "style": 25604,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.35959716988758417,
+      "width": 0.03308058268130945,
+      "minimum_speed_fraction": 0.0707593021318956
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.02196655264245459,
+      -0.019467840921176982,
+      0.02498107859112847
+    ],
+    "initial_wrist_xyz_deg": [
+      1.0827942194233522,
+      -3.275709516674757,
+      0.4278557528571128
+    ],
+    "initial_position": [
+      0.39896655082702637,
+      -0.01946784183382988,
+      0.5452810525894165
+    ],
+    "initial_fingers": [
+      0.6455978751182556,
+      0.2706158459186554,
+      0.21961210668087006,
+      0.3036879003047943,
+      0.0,
+      -0.1215817779302597,
+      0.04418626427650452,
+      0.007413371931761503,
+      -0.024183034896850586,
+      0.38533931970596313,
+      0.2614525854587555,
+      0.21465221047401428,
+      0.2592136263847351,
+      0.2708861231803894,
+      -0.028389114886522293,
+      0.05662773549556732,
+      0.1177288293838501,
+      0.21163061261177063,
+      0.10371804237365723,
+      0.43295127153396606,
+      0.19314970076084137,
+      0.17291776835918427
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": -6.712496270271509
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.945352967511922,
+      "entry": [
+        0.4596748355299552,
+        0.2945136931232523,
+        0.4719005965708084
+      ],
+      "mid": [
+        0.42524901048691666,
+        0.07631121112366077,
+        0.5119005965708084
+      ],
+      "offset_cmd": [
+        0.08997025036127448,
+        0.01895417018122767,
+        0.1856695302749224
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5819549608100311,
+        0.08921459926840969,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5604,
+      "style": 25604
+    },
+    {
+      "tick": 68,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 98,
+      "kind": "bread_lift",
+      "bottom_z": 0.029352594166994095,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 157,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0030850369921256895,
+      "tilt_deg": 4.192180804229187
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.560671329498291,
+      0.23631450533866882,
+      0.1707063764333725
+    ],
+    "toast_quat": [
+      0.5314823389053345,
+      0.44568896293640137,
+      -0.45627397298812866,
+      -0.5574064254760742
+    ],
+    "toast_vel": [
+      9.671454790805e-06,
+      -5.58250860649423e-07,
+      -4.607184109772788e-06
+    ],
+    "toast_ang": [
+      -4.1821149352472275e-05,
+      0.00023258944565895945,
+      -8.479586540488526e-06
+    ],
+    "toast_aabb_lo": [
+      0.5443778038024902,
+      0.1850164383649826,
+      0.12159056216478348
+    ],
+    "toast_aabb_hi": [
+      0.576964795589447,
+      0.28761255741119385,
+      0.21982219815254211
+    ],
+    "toast_in_toaster_frame": [
+      0.004231918603181839,
+      0.020350374281406403,
+      0.08400637656450272
+    ],
+    "toaster_pos": [
+      0.5810481309890747,
+      0.23221172392368317,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7048611640930176,
+      0.0,
+      0.0,
+      0.709345281124115
+    ],
+    "lever_q": [
+      -0.06791894137859344
+    ],
+    "lever_frac": [
+      0.8385054469108582
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.028171755373477936,
+      -0.004695368465036154,
+      -0.36380475759506226,
+      0.970687747001648,
+      -0.015983685851097107,
+      0.025506755337119102,
+      0.23845168948173523,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2882020175457001,
+      0.0,
+      -0.2199999988079071,
+      0.03317159041762352,
+      -0.008070532232522964,
+      -0.029590843245387077,
+      0.27647197246551514,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.43875834345817566,
+      -0.07011692225933075,
+      0.04519522935152054,
+      0.30000001192092896,
+      0.25,
+      0.19991198182106018,
+      0.4404529929161072,
+      1.100000023841858,
+      0.13846313953399658
+    ],
+    "last_action": [
+      0.028171755373477936,
+      -0.004695368465036154,
+      -0.35986626148223877,
+      0.970687747001648,
+      -0.015983685851097107,
+      0.025506755337119102,
+      0.23845168948173523,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2882020175457001,
+      0.0,
+      -0.2199999988079071,
+      0.03317159041762352,
+      -0.008070532232522964,
+      -0.029590843245387077,
+      0.27647197246551514,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.43875834345817566,
+      -0.07011692225933075,
+      0.04519522935152054,
+      0.30000001192092896,
+      0.25,
+      0.19991198182106018,
+      0.4404529929161072,
+      1.100000023841858,
+      0.13846313953399658
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 325,
+    "seconds": 16.25,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.4737626528384561,
+    "command_speed_max_m_s": 0.3756817997739024,
+    "command_acceleration_p95_m_s2": 0.5793187595461671,
+    "command_jerk_p95_m_s3": 2.291330953204763,
+    "finger_range_rad": [
+      0.8041984438896179,
+      0.4790038391947746,
+      1.230041116476059,
+      1.1617980301380157,
+      0.0,
+      0.2274540811777115,
+      0.315928403288126,
+      0.2080705352127552,
+      0.22959084622561932,
+      1.1735280752182007,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1404647827148438,
+      1.128795564174652,
+      0.270116925239563,
+      0.2956962212920189,
+      1.2782591134309769,
+      0.7881471514701843,
+      0.8960293084383011,
+      0.9667761027812958,
+      0.9066412001848221,
+      0.8615368604660034
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6262192721394662,
+        "mean_palm_x": -0.5392525213455707
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6567698276463168,
+        "mean_palm_x": -0.7435303123600069
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.648219442657707,
+        "mean_palm_x": -0.7443290910245067
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4737626528384561,
+        "mean_palm_x": -0.37918445126642053
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4762080406953526,
+        "mean_palm_x": -0.11453475789324352
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.47808733965832995,
+        "mean_palm_x": -0.11375562931747975
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5585065640315784,
+        "mean_palm_x": -0.013186048836452769
+      },
+      "Press the lever down": {
+        "seconds": 0.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8688732202576614,
+        "mean_palm_x": -0.0010819931346233889
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 4,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 4
+  }
+}

meta/controller_episodes/episode_000005.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25605,
+  "scene_seed": 5605,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 331,
+  "recorded": true,
+  "first_success_tick": 331,
+  "post_success_error": null,
+  "command_hash": "c9868106dc2a11bbbb33e2f15979a1daa4ac9c80168c6227d888d50e70387d11",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5605,
+    "style": 25605,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5129719364795142,
+      "width": 0.030724676792880143,
+      "minimum_speed_fraction": 0.057007047895370686
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.04486826224910119,
+      -0.035146144121787216,
+      0.040442234373484806
+    ],
+    "initial_wrist_xyz_deg": [
+      2.649865180551993,
+      -2.683518893572357,
+      7.151993932565954
+    ],
+    "initial_position": [
+      0.3321317434310913,
+      -0.03514614328742027,
+      0.560742199420929
+    ],
+    "initial_fingers": [
+      0.6189630627632141,
+      0.293174684047699,
+      0.3441402316093445,
+      0.3265346884727478,
+      0.0,
+      -0.06176381558179855,
+      0.008972693234682083,
+      0.0024142051115632057,
+      -0.03282827138900757,
+      0.30499064922332764,
+      0.3008098602294922,
+      0.29526907205581665,
+      0.3272083103656769,
+      0.41288870573043823,
+      -0.039975300431251526,
+      0.06005217507481575,
+      0.08456380665302277,
+      0.17551246285438538,
+      0.210372194647789,
+      0.4231044352054596,
+      0.22753560543060303,
+      0.14512091875076294
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": -1.3172151579633045
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.0986592870786662,
+      "entry": [
+        0.4913633928991951,
+        0.2832059010501918,
+        0.47741077413213345
+      ],
+      "mid": [
+        0.43011815181859325,
+        0.05902177317123694,
+        0.5174107741321334
+      ],
+      "offset_cmd": [
+        0.0903975722156635,
+        0.019385849779970855,
+        0.1878079966711379
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5761908321347596,
+        0.061794725890279095,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5605,
+      "style": 25605
+    },
+    {
+      "tick": 70,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 100,
+      "kind": "bread_lift",
+      "bottom_z": 0.026884065940976143,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 162,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.005286908622978503,
+      "tilt_deg": 4.414072173424996
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5719741582870483,
+      0.21250024437904358,
+      0.1704813539981842
+    ],
+    "toast_quat": [
+      0.4514267146587372,
+      0.45785635709762573,
+      -0.5388547778129578,
+      -0.544258177280426
+    ],
+    "toast_vel": [
+      -3.198260674253106e-05,
+      4.8200032324530184e-05,
+      2.9315418942132965e-05
+    ],
+    "toast_ang": [
+      -0.000971804023720324,
+      -0.0006452844245359302,
+      -2.4220364025495655e-07
+    ],
+    "toast_aabb_lo": [
+      0.5572629570960999,
+      0.1614011526107788,
+      0.12162767350673676
+    ],
+    "toast_aabb_hi": [
+      0.5866853594779968,
+      0.26359933614730835,
+      0.21933503448963165
+    ],
+    "toast_in_toaster_frame": [
+      0.005771676078438759,
+      0.024432005360722542,
+      0.08378135412931442
+    ],
+    "toaster_pos": [
+      0.5954088568687439,
+      0.20349746942520142,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7531241178512573,
+      0.0,
+      0.0,
+      0.6578785181045532
+    ],
+    "lever_q": [
+      -0.06805487722158432
+    ],
+    "lever_frac": [
+      0.840183675289154
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.09032205492258072,
+      -0.018560096621513367,
+      -0.3831181526184082,
+      0.9828652143478394,
+      -0.026970023289322853,
+      0.01884102076292038,
+      0.18136580288410187,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3516881763935089,
+      0.0,
+      -0.2199999988079071,
+      0.005120880901813507,
+      -0.002226058393716812,
+      -0.036796119064092636,
+      0.29848358035087585,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.35147228837013245,
+      -0.028035953640937805,
+      0.034092940390110016,
+      0.30000001192092896,
+      0.25,
+      0.23070332407951355,
+      0.3145657777786255,
+      1.100000023841858,
+      0.1849135309457779
+    ],
+    "last_action": [
+      0.09032205492258072,
+      -0.018560096621513367,
+      -0.3792474567890167,
+      0.9828652143478394,
+      -0.026970023289322853,
+      0.01884102076292038,
+      0.18136580288410187,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3516881763935089,
+      0.0,
+      -0.2199999988079071,
+      0.005120880901813507,
+      -0.002226058393716812,
+      -0.036796119064092636,
+      0.29848358035087585,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.35147228837013245,
+      -0.028035953640937805,
+      0.034092940390110016,
+      0.30000001192092896,
+      0.25,
+      0.23070332407951355,
+      0.3145657777786255,
+      1.100000023841858,
+      0.1849135309457779
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 331,
+    "seconds": 16.55,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.3425364675159287,
+    "command_speed_max_m_s": 0.4003880876079144,
+    "command_acceleration_p95_m_s2": 0.5723034955954583,
+    "command_jerk_p95_m_s3": 2.3034462897323413,
+    "finger_range_rad": [
+      0.830858588218689,
+      0.4790038391947746,
+      1.1055966019630432,
+      1.1231979429721832,
+      0.0,
+      0.2872677855193615,
+      0.343979112803936,
+      0.20222606137394905,
+      0.23679612204432487,
+      1.15151646733284,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0725363194942474,
+      1.0485276877880096,
+      0.23991818353533745,
+      0.3067985102534294,
+      1.311464786529541,
+      0.8242912888526917,
+      0.789439857006073,
+      1.0854341983795166,
+      0.8722960203886032,
+      0.8546755909919739
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.9,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6385758522595136,
+        "mean_palm_x": -0.5316465195088158
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6745195525702262,
+        "mean_palm_x": -0.7294822470289898
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6602040998561043,
+        "mean_palm_x": -0.7269008220680384
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.1,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3425364675159287,
+        "mean_palm_x": -0.3420672324815085
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3483084544652413,
+        "mean_palm_x": -0.06348326752407546
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.35331928318620087,
+        "mean_palm_x": -0.06311187125624884
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.44817420362817806,
+        "mean_palm_x": -0.00794257262289776
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8773878098967384,
+        "mean_palm_x": -0.0003775621689276809
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 5,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 5
+  }
+}

meta/controller_episodes/episode_000006.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25607,
+  "scene_seed": 5607,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 326,
+  "recorded": true,
+  "first_success_tick": 326,
+  "post_success_error": null,
+  "command_hash": "a966fb576127f87d97a793c473faec39e330f33462ffc51781f2f3e03ca4d192",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5607,
+    "style": 25607,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.489239890032045,
+      "width": 0.04173356191582331,
+      "minimum_speed_fraction": 0.0864331529012217
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.046355069166432034,
+      0.019536842466409327,
+      -0.02287569373347379
+    ],
+    "initial_wrist_xyz_deg": [
+      9.906470428018388,
+      1.951290385516437,
+      9.252844245860196
+    ],
+    "initial_position": [
+      0.3306449353694916,
+      0.01953684166073799,
+      0.49742427468299866
+    ],
+    "initial_fingers": [
+      0.43425869941711426,
+      0.28621676564216614,
+      0.30566802620887756,
+      0.35473307967185974,
+      0.0,
+      -0.13709336519241333,
+      0.034805163741111755,
+      0.002376013435423374,
+      -0.010623440146446228,
+      0.37706804275512695,
+      0.20056462287902832,
+      0.3113406300544739,
+      0.3556496500968933,
+      0.3114679455757141,
+      -0.06860888749361038,
+      0.05337109789252281,
+      0.14255382120609283,
+      0.13930492103099823,
+      0.15381434559822083,
+      0.32132554054260254,
+      0.09596533328294754,
+      0.11755098402500153
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": 1.1884741152133595
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.0198543105200337,
+      "entry": [
+        0.4820458440130334,
+        0.29994976236413523,
+        0.46935384729104906
+      ],
+      "mid": [
+        0.4445006175908139,
+        0.07659431404864095,
+        0.509353847291049
+      ],
+      "offset_cmd": [
+        0.0939577231048414,
+        0.01675835252704967,
+        0.18474140874455233
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5911846912967279,
+        0.08554507348541057,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5607,
+      "style": 25607
+    },
+    {
+      "tick": 67,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 97,
+      "kind": "bread_lift",
+      "bottom_z": 0.028597168624401093,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 157,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0040188600373213725,
+      "tilt_deg": 2.307874426047226
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5747194886207581,
+      0.240647554397583,
+      0.17048123478889465
+    ],
+    "toast_quat": [
+      0.48726996779441833,
+      0.4933263659477234,
+      -0.5065891742706299,
+      -0.5124102830886841
+    ],
+    "toast_vel": [
+      -0.00019220459216739982,
+      -2.4240027414634824e-05,
+      0.00011795407044701278
+    ],
+    "toast_ang": [
+      0.0004892250872217119,
+      -0.0038796234875917435,
+      9.205412965229698e-08
+    ],
+    "toast_aabb_lo": [
+      0.5667719841003418,
+      0.18962661921977997,
+      0.12162759155035019
+    ],
+    "toast_aabb_hi": [
+      0.5826669931411743,
+      0.29166850447654724,
+      0.21933488547801971
+    ],
+    "toast_in_toaster_frame": [
+      0.009883305057883263,
+      0.030896242707967758,
+      0.08378123492002487
+    ],
+    "toaster_pos": [
+      0.6045562028884888,
+      0.22791853547096252,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7394278645515442,
+      0.0,
+      0.0,
+      0.6732358336448669
+    ],
+    "lever_q": [
+      -0.06776019185781479
+    ],
+    "lever_frac": [
+      0.8365455865859985
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.10608979314565659,
+      -0.04810606315732002,
+      -0.31980934739112854,
+      0.9830597043037415,
+      -0.08241435885429382,
+      -0.030797738581895828,
+      0.16078869998455048,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.24703262746334076,
+      0.0,
+      -0.2199999988079071,
+      0.023482590913772583,
+      -0.02023523859679699,
+      -0.014716251753270626,
+      0.3546963632106781,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3070733845233917,
+      -0.03352000564336777,
+      0.07416627556085587,
+      0.30000001192092896,
+      0.25,
+      0.16352911293506622,
+      0.32558363676071167,
+      1.100000023841858,
+      0.11167774349451065
+    ],
+    "last_action": [
+      0.10608979314565659,
+      -0.04810606315732002,
+      -0.31593865156173706,
+      0.9830597043037415,
+      -0.08241435885429382,
+      -0.030797738581895828,
+      0.16078869998455048,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.24703262746334076,
+      0.0,
+      -0.2199999988079071,
+      0.023482590913772583,
+      -0.02023523859679699,
+      -0.014716251753270626,
+      0.3546963632106781,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3070733845233917,
+      -0.03352000564336777,
+      0.07416627556085587,
+      0.30000001192092896,
+      0.25,
+      0.16352911293506622,
+      0.32558363676071167,
+      1.100000023841858,
+      0.11167774349451065
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 326,
+    "seconds": 16.3,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.43655426467848485,
+    "command_speed_max_m_s": 0.3884428522725149,
+    "command_acceleration_p95_m_s2": 0.6003747830631725,
+    "command_jerk_p95_m_s3": 2.403351027429838,
+    "finger_range_rad": [
+      1.0154455602169037,
+      0.4790038391947746,
+      1.1439696550369263,
+      1.202967420220375,
+      0.0,
+      0.2119394987821579,
+      0.32561740279197693,
+      0.22023524157702923,
+      0.21471625473350286,
+      1.0953036844730377,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0440196096897125,
+      1.0929265916347504,
+      0.26852382719516754,
+      0.2874701954424381,
+      1.2534034848213196,
+      0.8604225218296051,
+      0.8459176868200302,
+      1.0783328413963318,
+      1.0037689805030823,
+      0.8883222565054893
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.75,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.692930602519712,
+        "mean_palm_x": -0.5041077800576625
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6744081856042228,
+        "mean_palm_x": -0.7195101626515892
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6548310448762029,
+        "mean_palm_x": -0.7245380816403385
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4403879077600805,
+        "mean_palm_x": -0.30481078688302266
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.43655426467848485,
+        "mean_palm_x": 0.010529470627553222
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4365560076048913,
+        "mean_palm_x": 0.010534304989455442
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5226015014942201,
+        "mean_palm_x": -0.012943941797317537
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8678073046334696,
+        "mean_palm_x": -0.0008921761581388077
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 6,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 6
+  }
+}

meta/controller_episodes/episode_000007.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25608,
+  "scene_seed": 5608,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 318,
+  "recorded": true,
+  "first_success_tick": 318,
+  "post_success_error": null,
+  "command_hash": "e8247c62f2a09e96f6775b7e82b41bef4ff66c4b501c5eafd00fc65fc0ada4e7",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5608,
+    "style": 25608,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5738757581970422,
+      "width": 0.042436999274656384,
+      "minimum_speed_fraction": 0.08494648888703779
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.03141410606631688,
+      0.020280714676690195,
+      -0.04035139285404757
+    ],
+    "initial_wrist_xyz_deg": [
+      -3.2741090447423637,
+      -2.6068289452137137,
+      8.429016798474898
+    ],
+    "initial_position": [
+      0.4084141254425049,
+      0.020280715078115463,
+      0.47994858026504517
+    ],
+    "initial_fingers": [
+      0.3887472450733185,
+      0.23361118137836456,
+      0.2216457724571228,
+      0.32644858956336975,
+      0.0,
+      -0.11881989985704422,
+      0.002416769741103053,
+      -0.01720315031707287,
+      -0.02639409899711609,
+      0.33277180790901184,
+      0.18718191981315613,
+      0.2522282600402832,
+      0.35633715987205505,
+      0.2808515429496765,
+      -0.0690508782863617,
+      0.04528238624334335,
+      0.0827810987830162,
+      0.13835597038269043,
+      0.15177911520004272,
+      0.43144601583480835,
+      0.23942123353481293,
+      0.14384311437606812
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 0,
+      "heading_deg": -56.67891764964473
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.671749046210276,
+      "entry": [
+        0.4518648437027247,
+        0.28805435891409403,
+        0.4650463373587105
+      ],
+      "mid": [
+        0.4431787903787747,
+        0.08786152897010091,
+        0.5050463373587105
+      ],
+      "offset_cmd": [
+        0.08922987220808794,
+        0.017884649065890306,
+        0.18636289016890514
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5894209195875527,
+        0.09192887445751688,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5608,
+      "style": 25608
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.029191188514232635,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 149,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.005517272777422175,
+      "tilt_deg": 5.782169144809182
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5707788467407227,
+      0.24193966388702393,
+      0.17018553614616394
+    ],
+    "toast_quat": [
+      0.5761000514030457,
+      -0.4196273982524872,
+      -0.4311661124229431,
+      0.5532785654067993
+    ],
+    "toast_vel": [
+      8.831326340441592e-06,
+      -1.1833967619168106e-06,
+      -5.434625563793816e-06
+    ],
+    "toast_ang": [
+      -6.0227317590033635e-05,
+      0.00025322416331619024,
+      -7.548910616606008e-06
+    ],
+    "toast_aabb_lo": [
+      0.5512754321098328,
+      0.19006913900375366,
+      0.12158238142728806
+    ],
+    "toast_aabb_hi": [
+      0.5902822017669678,
+      0.2938101887702942,
+      0.21878868341445923
+    ],
+    "toast_in_toaster_frame": [
+      0.006948075257241726,
+      0.01913999393582344,
+      0.08348553627729416
+    ],
+    "toaster_pos": [
+      0.5898956656455994,
+      0.23492808640003204,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7082796096801758,
+      0.0,
+      0.0,
+      0.705932080745697
+    ],
+    "lever_q": [
+      -0.06594661623239517
+    ],
+    "lever_frac": [
+      0.8141557574272156
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.026797201484441757,
+      -0.042940136045217514,
+      -0.30232930183410645,
+      0.9849042892456055,
+      0.02428065612912178,
+      0.027261026203632355,
+      0.16920629143714905,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.33578065037727356,
+      0.0,
+      -0.2199999988079071,
+      0.017223894596099854,
+      0.01669212244451046,
+      -0.03375490754842758,
+      0.4032267928123474,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.37143319845199585,
+      -0.06267647445201874,
+      0.07188014686107635,
+      0.30000001192092896,
+      0.25,
+      0.1233639195561409,
+      0.40184351801872253,
+      1.100000023841858,
+      0.09769758582115173
+    ],
+    "last_action": [
+      0.026797201484441757,
+      -0.042940136045217514,
+      -0.29845860600471497,
+      0.9849042892456055,
+      0.02428065612912178,
+      0.027261026203632355,
+      0.16920629143714905,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.33578065037727356,
+      0.0,
+      -0.2199999988079071,
+      0.017223894596099854,
+      0.01669212244451046,
+      -0.03375490754842758,
+      0.4032267928123474,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.37143319845199585,
+      -0.06267647445201874,
+      0.07188014686107635,
+      0.30000001192092896,
+      0.25,
+      0.1233639195561409,
+      0.40184351801872253,
+      1.100000023841858,
+      0.09769758582115173
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 318,
+    "seconds": 15.9,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.3595222827914572,
+    "command_speed_max_m_s": 0.36425740373427007,
+    "command_acceleration_p95_m_s2": 0.6036634927295235,
+    "command_jerk_p95_m_s3": 2.474414134863039,
+    "finger_range_rad": [
+      1.0609079003334045,
+      0.4790038391947746,
+      1.2279217690229416,
+      1.1231558620929718,
+      0.0,
+      0.23019900918006897,
+      0.3465611571446061,
+      0.21712667681276798,
+      0.23375491052865982,
+      1.1168348789215088,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0432953536510468,
+      1.1187543869018555,
+      0.26895614713430405,
+      0.2955504469573498,
+      1.3131168261170387,
+      0.8613406419754028,
+      0.8766360804438591,
+      0.9981564581394196,
+      0.8603338599205017,
+      0.9023024141788483
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.36218350966855317,
+        "mean_palm_x": -0.3566308953548909
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.37507381574621546,
+        "mean_palm_x": -0.5439079660108913
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3595222827914572,
+        "mean_palm_x": -0.520371970980882
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.65,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3809119573194272,
+        "mean_palm_x": -0.2069966036533482
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5028431115700349,
+        "mean_palm_x": 0.027564395855983553
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5028480412968913,
+        "mean_palm_x": 0.027396666825287085
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5842398448814126,
+        "mean_palm_x": 0.004058917995218886
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.884491838651325,
+        "mean_palm_x": 0.002119904207200818
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 7,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 7
+  }
+}

meta/controller_episodes/episode_000008.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25609,
+  "scene_seed": 5609,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 333,
+  "recorded": true,
+  "first_success_tick": 333,
+  "post_success_error": null,
+  "command_hash": "0a5ec39d3dc6f7e15f154052422592e2b41806c0bb56b8ef73a1472930b53c4a",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5609,
+    "style": 25609,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.3996158348981981,
+      "width": 0.04251050608231705,
+      "minimum_speed_fraction": 0.07221768322776731
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.0081330001309061,
+      0.018459482796840593,
+      -0.011689268251380058
+    ],
+    "initial_wrist_xyz_deg": [
+      3.2162689316882016,
+      8.22731775934389,
+      -8.93451162794798
+    ],
+    "initial_position": [
+      0.3851329982280731,
+      0.018459374085068703,
+      0.508610725402832
+    ],
+    "initial_fingers": [
+      0.3915371298789978,
+      0.32427382469177246,
+      0.31475314497947693,
+      0.3242992162704468,
+      -8.15552070321246e-08,
+      -0.05638616904616356,
+      0.03617660328745842,
+      0.021518820896744728,
+      -0.04189164564013481,
+      0.3837396502494812,
+      0.23130089044570923,
+      0.3327266275882721,
+      0.2576250731945038,
+      0.32440921664237976,
+      -0.06646288931369781,
+      0.028328128159046173,
+      0.11584725230932236,
+      0.22892427444458008,
+      0.22937211394309998,
+      0.3324050307273865,
+      0.14364837110042572,
+      0.10356762260198593
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -53.27342663755261
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.247030427811672,
+      "entry": [
+        0.4936854730492639,
+        0.30586221132404123,
+        0.4876415124425678
+      ],
+      "mid": [
+        0.4707111065807843,
+        0.06342105226579564,
+        0.5276415124425679
+      ],
+      "offset_cmd": [
+        0.08738950579765625,
+        0.029904028186064694,
+        0.18995238840450354
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5680432665497315,
+        0.09385260367985734,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5609,
+      "style": 25609
+    },
+    {
+      "tick": 69,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 99,
+      "kind": "bread_lift",
+      "bottom_z": 0.023598335683345795,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 164,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.01084499078036242,
+      "tilt_deg": 4.053927314883846
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5677850246429443,
+      0.2483658492565155,
+      0.17142528295516968
+    ],
+    "toast_quat": [
+      0.8050622940063477,
+      -0.03423216938972473,
+      -0.5903035998344421,
+      -0.04737510532140732
+    ],
+    "toast_vel": [
+      9.944947123585735e-06,
+      -2.5715337415022077e-07,
+      -4.854775397689082e-06
+    ],
+    "toast_ang": [
+      0.00010933200246654451,
+      0.00024134536215569824,
+      -4.3394279600761365e-06
+    ],
+    "toast_aabb_lo": [
+      0.5419918894767761,
+      0.19906838238239288,
+      0.12158256769180298
+    ],
+    "toast_aabb_hi": [
+      0.5935781002044678,
+      0.29766330122947693,
+      0.22126799821853638
+    ],
+    "toast_in_toaster_frame": [
+      0.01032206416130066,
+      0.01915084943175316,
+      0.0847252830862999
+    ],
+    "toaster_pos": [
+      0.5855299234390259,
+      0.23577940464019775,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7490942478179932,
+      0.0,
+      0.0,
+      0.6624634861946106
+    ],
+    "lever_q": [
+      -0.06766702234745026
+    ],
+    "lever_frac": [
+      0.835395336151123
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.029105357825756073,
+      -0.039978157728910446,
+      -0.3309870660305023,
+      0.9463262557983398,
+      -0.0038356629665941,
+      -0.0768807902932167,
+      0.31391286849975586,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.35309895873069763,
+      0.0,
+      -0.2199999988079071,
+      0.006843493320047855,
+      -0.004343254957348108,
+      -0.02692006155848503,
+      0.38645997643470764,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.43972617387771606,
+      -0.05101864039897919,
+      0.06355926394462585,
+      0.30000001192092896,
+      0.25,
+      0.1735227406024933,
+      0.32181093096733093,
+      1.100000023841858,
+      0.14722982048988342
+    ],
+    "last_action": [
+      0.029105357825756073,
+      -0.039978157728910446,
+      -0.32711637020111084,
+      0.9463262557983398,
+      -0.0038356629665941,
+      -0.0768807902932167,
+      0.31391286849975586,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.35309895873069763,
+      0.0,
+      -0.2199999988079071,
+      0.006843493320047855,
+      -0.004343254957348108,
+      -0.02692006155848503,
+      0.38645997643470764,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.43972617387771606,
+      -0.05101864039897919,
+      0.06355926394462585,
+      0.30000001192092896,
+      0.25,
+      0.1735227406024933,
+      0.32181093096733093,
+      1.100000023841858,
+      0.14722982048988342
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 333,
+    "seconds": 16.65,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.2439715368646925,
+    "command_speed_max_m_s": 0.40145169855927415,
+    "command_acceleration_p95_m_s2": 0.585138019457099,
+    "command_jerk_p95_m_s3": 2.314337089903482,
+    "finger_range_rad": [
+      1.0582135319709778,
+      0.4790038391947746,
+      1.1349570453166962,
+      1.125413417816162,
+      0.0,
+      0.2926390916109085,
+      0.34225650038570166,
+      0.20434325793758035,
+      0.24182989075779915,
+      1.065988153219223,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.14208322763443,
+      1.0753161311149597,
+      0.26639486104249954,
+      0.31251648999750614,
+      1.2801696211099625,
+      0.7708788514137268,
+      0.8264772593975067,
+      1.0781890451908112,
+      0.9561495929956436,
+      0.8962035030126572
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4110199040493202,
+        "mean_palm_x": -0.4550298399860738
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.40665712883042776,
+        "mean_palm_x": -0.5752229803570593
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.35638259211975876,
+        "mean_palm_x": -0.5872429610217339
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.25,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2439715368646925,
+        "mean_palm_x": -0.31754606518615225
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.25265714910039067,
+        "mean_palm_x": -0.13484605726141732
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.26079478491207614,
+        "mean_palm_x": -0.13386200447376062
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3671752708762289,
+        "mean_palm_x": -0.011268194593164835
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8685765088952448,
+        "mean_palm_x": 0.0014965991015523344
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 8,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 8
+  }
+}

meta/controller_episodes/episode_000009.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25610,
+  "scene_seed": 5610,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 328,
+  "recorded": true,
+  "first_success_tick": 328,
+  "post_success_error": null,
+  "command_hash": "651bed0137649165213544d3cdda2e182765d894277528752241c5226eea031f",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5610,
+    "style": 25610,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.3800653895881822,
+      "width": 0.02930702008662524,
+      "minimum_speed_fraction": 0.03244213341946862
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.04279584201789237,
+      0.004429749454951934,
+      -0.04659551249411145
+    ],
+    "initial_wrist_xyz_deg": [
+      -11.729588399748032,
+      7.91273519798919,
+      -11.689375261368593
+    ],
+    "initial_position": [
+      0.41979584097862244,
+      0.004429749678820372,
+      0.47370445728302
+    ],
+    "initial_fingers": [
+      0.3586524426937103,
+      0.2872568368911743,
+      0.3595066964626312,
+      0.3223591148853302,
+      0.0,
+      -0.0707230493426323,
+      0.012563791126012802,
+      0.024731991812586784,
+      -0.03184543550014496,
+      0.39822620153427124,
+      0.2306813895702362,
+      0.2906826436519623,
+      0.38553541898727417,
+      0.3082682490348816,
+      -0.05967504531145096,
+      0.04152258485555649,
+      0.21012720465660095,
+      0.14980092644691467,
+      0.1429021954536438,
+      0.4197952151298523,
+      0.0974196344614029,
+      0.1766485869884491
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -31.257198883550124
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.078761549514185,
+      "entry": [
+        0.5039999657753117,
+        0.2934301437389411,
+        0.4912178196908494
+      ],
+      "mid": [
+        0.4686165538372103,
+        0.06525014795122333,
+        0.5312178196908494
+      ],
+      "offset_cmd": [
+        0.08806300477752915,
+        0.026405724153393265,
+        0.18881969933072457
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5916675199841654,
+        0.09327773891805213,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5610,
+      "style": 25610
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.024195343255996704,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 158,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0034120894707962723,
+      "tilt_deg": 1.8566146866183206
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5698808431625366,
+      0.24489936232566833,
+      0.17194053530693054
+    ],
+    "toast_quat": [
+      0.78719562292099,
+      -0.009263137355446815,
+      -0.6164954304695129,
+      -0.013061489909887314
+    ],
+    "toast_vel": [
+      8.717818673176225e-06,
+      -9.491245123172121e-07,
+      -4.821602033189265e-06
+    ],
+    "toast_ang": [
+      -4.481876385398209e-05,
+      0.00021262039081193507,
+      -2.934550320787821e-05
+    ],
+    "toast_aabb_lo": [
+      0.5506130456924438,
+      0.19576896727085114,
+      0.1215890645980835
+    ],
+    "toast_aabb_hi": [
+      0.5891485810279846,
+      0.29402977228164673,
+      0.2222919911146164
+    ],
+    "toast_in_toaster_frame": [
+      0.008834388107061386,
+      0.020250804722309113,
+      0.08524053543806076
+    ],
+    "toaster_pos": [
+      0.590220034122467,
+      0.23627041280269623,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7035189270973206,
+      0.0,
+      0.0,
+      0.7106765508651733
+    ],
+    "lever_q": [
+      -0.06481428444385529
+    ],
+    "lever_frac": [
+      0.8001763820648193
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.017735514789819717,
+      -0.025883765891194344,
+      -0.2998610734939575,
+      0.9310697317123413,
+      0.11918407678604126,
+      -0.029954707249999046,
+      0.34352144598960876,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3269411325454712,
+      0.0,
+      -0.2199999988079071,
+      0.015326027758419514,
+      -0.019960414618253708,
+      -0.04742328077554703,
+      0.38046854734420776,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3291494846343994,
+      -0.06990596652030945,
+      0.05380985885858536,
+      0.30000001192092896,
+      0.25,
+      0.10996408760547638,
+      0.3295556902885437,
+      1.100000023841858,
+      0.1335691213607788
+    ],
+    "last_action": [
+      0.017735514789819717,
+      -0.025883765891194344,
+      -0.29608410596847534,
+      0.9310697317123413,
+      0.11918407678604126,
+      -0.029954707249999046,
+      0.34352144598960876,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3269411325454712,
+      0.0,
+      -0.2199999988079071,
+      0.015326027758419514,
+      -0.019960414618253708,
+      -0.04742328077554703,
+      0.38046854734420776,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3291494846343994,
+      -0.06990596652030945,
+      0.05380985885858536,
+      0.30000001192092896,
+      0.25,
+      0.10996408760547638,
+      0.3295556902885437,
+      1.100000023841858,
+      0.1335691213607788
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 328,
+    "seconds": 16.4,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.3154822454230565,
+    "command_speed_max_m_s": 0.38714781315853813,
+    "command_acceleration_p95_m_s2": 0.5790857128356302,
+    "command_jerk_p95_m_s3": 2.340788448117008,
+    "finger_range_rad": [
+      1.0909920930862427,
+      0.4790038391947746,
+      1.1000000536441803,
+      1.1272439062595367,
+      0.0,
+      0.2782789245247841,
+      0.33641770854592323,
+      0.21996041759848595,
+      0.24742328375577927,
+      1.069531500339508,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0141073763370514,
+      1.091347336769104,
+      0.2699059695005417,
+      0.2993089258670807,
+      1.1858155578374863,
+      0.8498997241258621,
+      0.8900359123945236,
+      1.0704442858695984,
+      1.0022854655981064,
+      0.8664308786392212
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5590242079323817,
+        "mean_palm_x": -0.587872529696914
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5781938359299084,
+        "mean_palm_x": -0.712804973692144
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5218439953217474,
+        "mean_palm_x": -0.737382439129789
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.1,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3154822454230565,
+        "mean_palm_x": -0.461459295692771
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.32060053657777765,
+        "mean_palm_x": -0.27873720647480027
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3207231873144394,
+        "mean_palm_x": -0.2767829472746468
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.416224373390315,
+        "mean_palm_x": -0.11907159947966499
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8844452001181219,
+        "mean_palm_x": 0.0013024101444465948
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 9,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 9
+  }
+}

meta/controller_episodes/episode_000010.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25612,
+  "scene_seed": 5612,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 327,
+  "recorded": true,
+  "first_success_tick": 327,
+  "post_success_error": null,
+  "command_hash": "187074a20d5dfc7b35095395086fd8d879096ccdeb1ae4b9ab26e5a2197386e4",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5612,
+    "style": 25612,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.6130737367034043,
+      "width": 0.044841831859830455,
+      "minimum_speed_fraction": 0.034421280595958705
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.02739659804557555,
+      -0.03466951309145623,
+      0.033235252998795636
+    ],
+    "initial_wrist_xyz_deg": [
+      -0.707403202799842,
+      -9.479186771231994,
+      -11.402550283733273
+    ],
+    "initial_position": [
+      0.40439659357070923,
+      -0.03466951474547386,
+      0.5535352230072021
+    ],
+    "initial_fingers": [
+      0.44077807664871216,
+      0.2997332513332367,
+      0.3575931489467621,
+      0.24000462889671326,
+      0.0,
+      -0.06758841872215271,
+      0.014762177132070065,
+      -0.007108717691153288,
+      -0.0013843835331499577,
+      0.33936434984207153,
+      0.25112393498420715,
+      0.36767151951789856,
+      0.38257360458374023,
+      0.2511448860168457,
+      -0.03753556311130524,
+      0.06955631077289581,
+      0.22892093658447266,
+      0.12535452842712402,
+      0.13041405379772186,
+      0.3912406861782074,
+      0.089825339615345,
+      0.10014433413743973
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -41.89581298550937
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.983100881981606,
+      "entry": [
+        0.5047545358757265,
+        0.2932013190421543,
+        0.4922326474481279
+      ],
+      "mid": [
+        0.47532535717984475,
+        0.0714127156452875,
+        0.5322326474481279
+      ],
+      "offset_cmd": [
+        0.08408444216220605,
+        0.027511453928409382,
+        0.19305939001219094
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5718308926120866,
+        0.08242385043752865,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5612,
+      "style": 25612
+    },
+    {
+      "tick": 69,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 99,
+      "kind": "bread_lift",
+      "bottom_z": 0.0236174538731575,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 159,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0041923917435041985,
+      "tilt_deg": 0.8122860728747218
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5692917108535767,
+      0.2354106307029724,
+      0.17155620455741882
+    ],
+    "toast_quat": [
+      0.8011249303817749,
+      -0.03006020374596119,
+      -0.59632807970047,
+      -0.041086629033088684
+    ],
+    "toast_vel": [
+      -1.033637181535596e-05,
+      1.8104857417711173e-06,
+      5.6094222600222565e-06
+    ],
+    "toast_ang": [
+      5.9553469327511266e-05,
+      -0.000274119054665789,
+      6.228249731066171e-06
+    ],
+    "toast_aabb_lo": [
+      0.5447816848754883,
+      0.18622620403766632,
+      0.12158294767141342
+    ],
+    "toast_aabb_hi": [
+      0.5938017964363098,
+      0.2845950722694397,
+      0.22152946889400482
+    ],
+    "toast_in_toaster_frame": [
+      0.008818996138870716,
+      0.0190366692841053,
+      0.08485620468854904
+    ],
+    "toaster_pos": [
+      0.5872653126716614,
+      0.22458846867084503,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7442892789840698,
+      0.0,
+      0.0,
+      0.6678574085235596
+    ],
+    "lever_q": [
+      -0.06576240807771683
+    ],
+    "lever_frac": [
+      0.8118816018104553
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.013407116755843163,
+      0.002149816369637847,
+      -0.37204283475875854,
+      0.9383978247642517,
+      -0.022062459960579872,
+      0.0798630341887474,
+      0.33547669649124146,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.33126014471054077,
+      0.0,
+      -0.2199999988079071,
+      0.012521094642579556,
+      0.01926697976887226,
+      -0.03765001520514488,
+      0.2684604227542877,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.31564387679100037,
+      -0.03252793103456497,
+      0.028511308133602142,
+      0.30000001192092896,
+      0.25,
+      0.23818662762641907,
+      0.28782781958580017,
+      1.100000023841858,
+      0.14466702938079834
+    ],
+    "last_action": [
+      0.013407116755843163,
+      0.002149816369637847,
+      -0.36810433864593506,
+      0.9383978247642517,
+      -0.022062459960579872,
+      0.0798630341887474,
+      0.33547669649124146,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.33126014471054077,
+      0.0,
+      -0.2199999988079071,
+      0.012521094642579556,
+      0.01926697976887226,
+      -0.03765001520514488,
+      0.2684604227542877,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.31564387679100037,
+      -0.03252793103456497,
+      0.028511308133602142,
+      0.30000001192092896,
+      0.25,
+      0.23818662762641907,
+      0.28782781958580017,
+      1.100000023841858,
+      0.14466702938079834
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 327,
+    "seconds": 16.35,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.23830700831584448,
+    "command_speed_max_m_s": 0.39873153796482835,
+    "command_acceleration_p95_m_s2": 0.593460791438952,
+    "command_jerk_p95_m_s3": 2.379938184541622,
+    "finger_range_rad": [
+      1.0089781284332275,
+      0.4790038391947746,
+      1.1000000536441803,
+      1.2096773386001587,
+      0.0,
+      0.28143756836652756,
+      0.33657889906316996,
+      0.2070542760193348,
+      0.23765001818537712,
+      1.181539624929428,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0171588957309723,
+      1.1485530734062195,
+      0.23747312277555466,
+      0.3123801425099373,
+      1.1671172678470612,
+      0.8744155466556549,
+      0.8693573474884033,
+      1.112172156572342,
+      1.0099524930119514,
+      0.8996191099286079
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.49074044735561234,
+        "mean_palm_x": -0.4697500022326201
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.49944398122835854,
+        "mean_palm_x": -0.6611997147882834
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4966259445002359,
+        "mean_palm_x": -0.6534597974098492
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.24144134741042497,
+        "mean_palm_x": -0.3775357160648279
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2383101763214589,
+        "mean_palm_x": -0.18130044571623488
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.23830700831584448,
+        "mean_palm_x": -0.17999790337758043
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.34334747935232846,
+        "mean_palm_x": -0.0560221469968405
+      },
+      "Press the lever down": {
+        "seconds": 0.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8775210344156236,
+        "mean_palm_x": 0.0015145242766999168
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 10,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 10
+  }
+}

meta/controller_episodes/episode_000011.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25613,
+  "scene_seed": 5613,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 332,
+  "recorded": true,
+  "first_success_tick": 332,
+  "post_success_error": null,
+  "command_hash": "4c20b847eb43ebb7e680843ceb432aae84a83eab522a0e46a359642bb66032f6",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5613,
+    "style": 25613,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.305670066491761,
+      "width": 0.03233293424579656,
+      "minimum_speed_fraction": 0.042646267046167335
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.03295413559013889,
+      0.010701946425970651,
+      0.016825637592674234
+    ],
+    "initial_wrist_xyz_deg": [
+      -8.698645828591236,
+      -8.909288040616554,
+      -4.8770860953015465
+    ],
+    "initial_position": [
+      0.34404587745666504,
+      0.01070194598287344,
+      0.5371255874633789
+    ],
+    "initial_fingers": [
+      0.3986254334449768,
+      0.2608373761177063,
+      0.34213224053382874,
+      0.33734115958213806,
+      0.0,
+      -0.13674435019493103,
+      0.020275119692087173,
+      0.0070035019889473915,
+      -0.03507859632372856,
+      0.2651740312576294,
+      0.17949415743350983,
+      0.3861922025680542,
+      0.2438753992319107,
+      0.35873591899871826,
+      -0.0713050365447998,
+      0.04345154017210007,
+      0.11124305427074432,
+      0.14589932560920715,
+      0.11379554122686386,
+      0.29308679699897766,
+      0.21219731867313385,
+      0.14517474174499512
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -55.891555064162965
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.0943931613270954,
+      "entry": [
+        0.5076200215179523,
+        0.29656431665023786,
+        0.49251974107368046
+      ],
+      "mid": [
+        0.4680735691467325,
+        0.06787901664773932,
+        0.5325197410736805
+      ],
+      "offset_cmd": [
+        0.09935094963777534,
+        0.01570915093527881,
+        0.19059696918796204
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.6007800727783952,
+        0.09233109405986431,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5613,
+      "style": 25613
+    },
+    {
+      "tick": 71,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 101,
+      "kind": "bread_lift",
+      "bottom_z": 0.01740182377398014,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 163,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.007774833898520047,
+      "tilt_deg": 3.7644870793157055
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5868991613388062,
+      0.24220521748065948,
+      0.17196831107139587
+    ],
+    "toast_quat": [
+      0.785694420337677,
+      -0.007420159410685301,
+      -0.618482768535614,
+      -0.010407926514744759
+    ],
+    "toast_vel": [
+      -1.066830191120971e-05,
+      -2.749521286204981e-07,
+      5.744243480876321e-06
+    ],
+    "toast_ang": [
+      -5.9077327023260295e-05,
+      -0.00024830581969581544,
+      -8.473110710838228e-07
+    ],
+    "toast_aabb_lo": [
+      0.568145215511322,
+      0.19302025437355042,
+      0.12159756571054459
+    ],
+    "toast_aabb_hi": [
+      0.6056531667709351,
+      0.29139018058776855,
+      0.22233904898166656
+    ],
+    "toast_in_toaster_frame": [
+      0.00637802854180336,
+      0.0184699185192585,
+      0.08526831120252609
+    ],
+    "toaster_pos": [
+      0.6051648259162903,
+      0.235263854265213,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7178658246994019,
+      0.0,
+      0.0,
+      0.6961815357208252
+    ],
+    "lever_q": [
+      -0.06854060292243958
+    ],
+    "lever_frac": [
+      0.8461803197860718
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.10258916765451431,
+      -0.03308532014489174,
+      -0.3595053553581238,
+      0.9551396369934082,
+      0.050601232796907425,
+      0.09567650407552719,
+      0.27566972374916077,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2510039508342743,
+      0.0,
+      -0.2199999988079071,
+      0.015554827637970448,
+      -0.019464295357465744,
+      -0.022688860073685646,
+      0.3234368860721588,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.4352072775363922,
+      -0.07029076665639877,
+      0.049616847187280655,
+      0.30000001192092896,
+      0.25,
+      0.2223370373249054,
+      0.35179394483566284,
+      1.100000023841858,
+      0.21302251517772675
+    ],
+    "last_action": [
+      0.10258916765451431,
+      -0.03308532014489174,
+      -0.3556346595287323,
+      0.9551396369934082,
+      0.050601232796907425,
+      0.09567650407552719,
+      0.27566972374916077,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2510039508342743,
+      0.0,
+      -0.2199999988079071,
+      0.015554827637970448,
+      -0.019464295357465744,
+      -0.022688860073685646,
+      0.3234368860721588,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.4352072775363922,
+      -0.07029076665639877,
+      0.049616847187280655,
+      0.30000001192092896,
+      0.25,
+      0.2223370373249054,
+      0.35179394483566284,
+      1.100000023841858,
+      0.21302251517772675
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 332,
+    "seconds": 16.6,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.31697561227367177,
+    "command_speed_max_m_s": 0.39219775318076083,
+    "command_acceleration_p95_m_s2": 0.5684220995192379,
+    "command_jerk_p95_m_s3": 2.2708224477837957,
+    "finger_range_rad": [
+      1.051154911518097,
+      0.4790038391947746,
+      1.107616811990738,
+      1.1989960968494415,
+      0.0,
+      0.21230752766132355,
+      0.33354516606777906,
+      0.21946429833769798,
+      0.235025342553854,
+      1.1845575869083405,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.155862644314766,
+      1.0410281419754028,
+      0.2712435722351074,
+      0.2974017783999443,
+      1.2848046645522118,
+      0.8539071679115295,
+      0.8860036805272102,
+      1.106662392616272,
+      0.8876389414072037,
+      0.8546315878629684
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.31697561227367177,
+        "mean_palm_x": -0.3444573315626241
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3602664077477569,
+        "mean_palm_x": -0.5537529199984127
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.34788601868618907,
+        "mean_palm_x": -0.5622042612034226
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.1,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3408676074612207,
+        "mean_palm_x": -0.3083876658420613
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.35183556011436995,
+        "mean_palm_x": -0.12151138421064549
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3619878410995181,
+        "mean_palm_x": -0.12057226452371596
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.456364717931019,
+        "mean_palm_x": -0.018993398441356724
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8789041818375386,
+        "mean_palm_x": 0.002611071053980135
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 11,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 11
+  }
+}

meta/controller_episodes/episode_000012.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25614,
+  "scene_seed": 5614,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 326,
+  "recorded": true,
+  "first_success_tick": 326,
+  "post_success_error": null,
+  "command_hash": "2e5a89a16e37b0e7e4201c04c24f33c09022c595eb2fd007e239a9591aca8f44",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5614,
+    "style": 25614,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.6628559815230184,
+      "width": 0.03334648259229431,
+      "minimum_speed_fraction": 0.08330041202616796
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.034089304343857096,
+      0.030432040354610432,
+      -0.027841012055892025
+    ],
+    "initial_wrist_xyz_deg": [
+      1.0451613010090632,
+      0.18884716838557658,
+      -5.323512950509222
+    ],
+    "initial_position": [
+      0.41108930110931396,
+      0.030432039871811867,
+      0.4924589693546295
+    ],
+    "initial_fingers": [
+      0.43362322449684143,
+      0.22508057951927185,
+      0.2722434997558594,
+      0.2725071907043457,
+      0.0,
+      -0.06692595034837723,
+      0.01263168454170227,
+      -0.0022131670266389847,
+      -0.0484321266412735,
+      0.28964725136756897,
+      0.2586686313152313,
+      0.2264881283044815,
+      0.4016426205635071,
+      0.3444083631038666,
+      -0.05462328717112541,
+      0.050555720925331116,
+      0.1180400550365448,
+      0.2167653888463974,
+      0.09266100823879242,
+      0.2949870526790619,
+      0.08490418642759323,
+      0.15511378645896912
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 3,
+      "heading_deg": -57.636536926363874
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.869918380299908,
+      "entry": [
+        0.4641761921179797,
+        0.26466074957539004,
+        0.4796224426226743
+      ],
+      "mid": [
+        0.45614734999003537,
+        0.049566665659792036,
+        0.5196224426226743
+      ],
+      "offset_cmd": [
+        0.09059235659774366,
+        0.02022558354864359,
+        0.19022533141689452
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5857015239503128,
+        0.0659527945628556,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5614,
+      "style": 25614
+    },
+    {
+      "tick": 68,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 98,
+      "kind": "bread_lift",
+      "bottom_z": 0.02396734058856964,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 155,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.004583273916018469,
+      "tilt_deg": 2.836193170973755
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5648475289344788,
+      0.22217769920825958,
+      0.1712207794189453
+    ],
+    "toast_quat": [
+      0.011924594640731812,
+      0.5848414897918701,
+      -0.010237365029752254,
+      -0.81099534034729
+    ],
+    "toast_vel": [
+      7.5189177550782915e-06,
+      -1.7279555777349742e-06,
+      -5.594225513050333e-06
+    ],
+    "toast_ang": [
+      -5.235209391685203e-05,
+      0.00022669612371828407,
+      -4.768383951159194e-05
+    ],
+    "toast_aabb_lo": [
+      0.5432621836662292,
+      0.1715211272239685,
+      0.12158367037773132
+    ],
+    "toast_aabb_hi": [
+      0.5864328742027283,
+      0.27283427119255066,
+      0.2208578884601593
+    ],
+    "toast_in_toaster_frame": [
+      0.013381426222622395,
+      0.019645845517516136,
+      0.08452077955007553
+    ],
+    "toaster_pos": [
+      0.5845962166786194,
+      0.2089485228061676,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7043687105178833,
+      0.0,
+      0.0,
+      0.7098342776298523
+    ],
+    "lever_q": [
+      -0.06590227037668228
+    ],
+    "lever_frac": [
+      0.8136082887649536
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.019765324890613556,
+      -0.07779557257890701,
+      -0.32228904962539673,
+      0.957977294921875,
+      -0.00826524943113327,
+      -0.004193712957203388,
+      0.2866942584514618,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3116763234138489,
+      0.0,
+      -0.2199999988079071,
+      0.03397855535149574,
+      0.014456627890467644,
+      -0.037218231707811356,
+      0.40664732456207275,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3141300678253174,
+      -0.06768472492694855,
+      0.04891430214047432,
+      0.30000001192092896,
+      0.25,
+      0.14165246486663818,
+      0.41875922679901123,
+      1.100000023841858,
+      0.17344717681407928
+    ],
+    "last_action": [
+      0.019765324890613556,
+      -0.07779557257890701,
+      -0.31863123178482056,
+      0.957977294921875,
+      -0.00826524943113327,
+      -0.004193712957203388,
+      0.2866942584514618,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3116763234138489,
+      0.0,
+      -0.2199999988079071,
+      0.03397855535149574,
+      0.014456627890467644,
+      -0.037218231707811356,
+      0.40664732456207275,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3141300678253174,
+      -0.06768472492694855,
+      0.04891430214047432,
+      0.30000001192092896,
+      0.25,
+      0.14165246486663818,
+      0.41875922679901123,
+      1.100000023841858,
+      0.17344717681407928
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 326,
+    "seconds": 16.3,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.31254643187353837,
+    "command_speed_max_m_s": 0.37321406976719135,
+    "command_acceleration_p95_m_s2": 0.5974069854278063,
+    "command_jerk_p95_m_s3": 2.417604262544522,
+    "finger_range_rad": [
+      1.0160972774028778,
+      0.4790038391947746,
+      1.1774043142795563,
+      1.177140712738037,
+      0.0,
+      0.2820896506309509,
+      0.33636767975986004,
+      0.2021526931785047,
+      0.24835782870650291,
+      1.1600057780742645,
+      1.4726269915699959,
+      0.7218103408813477,
+      0.9980587661266327,
+      1.0858699083328247,
+      0.2676847279071808,
+      0.2919771485030651,
+      1.2779289558529854,
+      0.7830003648996353,
+      0.9070676267147064,
+      1.104682445526123,
+      1.0148415863513947,
+      0.8446335345506668
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3787700397541073,
+        "mean_palm_x": -0.40513452305759234
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.36486611135200175,
+        "mean_palm_x": -0.5362674727315112
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.31254643187353837,
+        "mean_palm_x": -0.5423626876020441
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3645183180202309,
+        "mean_palm_x": -0.2729379195705551
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4370546284837195,
+        "mean_palm_x": -0.08420025295021746
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4389736308985036,
+        "mean_palm_x": -0.08355231194705179
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5274367579186027,
+        "mean_palm_x": -0.03620705147794768
+      },
+      "Press the lever down": {
+        "seconds": 1.1,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8846915788812615,
+        "mean_palm_x": -2.810752337460824e-05
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 12,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 12
+  }
+}

meta/controller_episodes/episode_000013.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25615,
+  "scene_seed": 5615,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 326,
+  "recorded": true,
+  "first_success_tick": 326,
+  "post_success_error": null,
+  "command_hash": "f6d555db8346975f94108f318fda0979e8ba836c3ff85ba45b70abc5dcb42da2",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5615,
+    "style": 25615,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.4122071871522884,
+      "width": 0.03350762142893328,
+      "minimum_speed_fraction": 0.08633935703094327
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.01260957266797065,
+      0.0006454031692138401,
+      0.007131986999334615
+    ],
+    "initial_wrist_xyz_deg": [
+      11.332951235290004,
+      8.982693922023163,
+      10.781604561635895
+    ],
+    "initial_position": [
+      0.38960957527160645,
+      0.0006454031681641936,
+      0.5274319648742676
+    ],
+    "initial_fingers": [
+      0.4390656054019928,
+      0.32824403047561646,
+      0.2922096848487854,
+      0.30211085081100464,
+      0.0,
+      -0.06328534334897995,
+      0.0023133691865950823,
+      -0.008795246481895447,
+      -0.03953490033745766,
+      0.2886809706687927,
+      0.16666550934314728,
+      0.2918139100074768,
+      0.341189980506897,
+      0.3542366921901703,
+      -0.05856052786111832,
+      0.061532024294137955,
+      0.19790564477443695,
+      0.16097262501716614,
+      0.2371610403060913,
+      0.45673224329948425,
+      0.08817962557077408,
+      0.17362777888774872
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 3,
+      "heading_deg": 2.4313336500694187
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.8718623342792036,
+      "entry": [
+        0.4844606681489186,
+        0.24820063366551054,
+        0.47998830453847996
+      ],
+      "mid": [
+        0.453458615333996,
+        0.03505377150604552,
+        0.51998830453848
+      ],
+      "offset_cmd": [
+        0.09427061597204266,
+        0.016123090771947558,
+        0.1880591606728476
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.6258397910908838,
+        0.06224623809416999,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5615,
+      "style": 25615
+    },
+    {
+      "tick": 70,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 100,
+      "kind": "bread_lift",
+      "bottom_z": 0.022943761199712753,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 157,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0025215819307699,
+      "tilt_deg": 4.402760320864684
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.586186945438385,
+      0.2139384001493454,
+      0.1722433865070343
+    ],
+    "toast_quat": [
+      0.0503992922604084,
+      0.6484611630439758,
+      0.02181025594472885,
+      -0.7592642307281494
+    ],
+    "toast_vel": [
+      -2.447294355079066e-05,
+      6.326976290438324e-05,
+      1.636180968489498e-05
+    ],
+    "toast_ang": [
+      -0.001622560666874051,
+      -0.0005493953940458596,
+      -1.1313056347717065e-05
+    ],
+    "toast_aabb_lo": [
+      0.5682653188705444,
+      0.16227152943611145,
+      0.1216122955083847
+    ],
+    "toast_aabb_hi": [
+      0.6041085720062256,
+      0.26560527086257935,
+      0.2228744626045227
+    ],
+    "toast_in_toaster_frame": [
+      0.012583350762724876,
+      0.019408272579312325,
+      0.08554338663816452
+    ],
+    "toaster_pos": [
+      0.6070783734321594,
+      0.20401015877723694,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.6590907573699951,
+      0.0,
+      0.0,
+      0.7520633935928345
+    ],
+    "lever_q": [
+      -0.06529200077056885
+    ],
+    "lever_frac": [
+      0.8060740828514099
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.08242659270763397,
+      -0.053773023188114166,
+      -0.34980830550193787,
+      0.9820370078086853,
+      -0.08565991371870041,
+      -0.09178280830383301,
+      0.1408604085445404,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3610202372074127,
+      0.0,
+      -0.2199999988079071,
+      0.006810678634792566,
+      0.0028949850238859653,
+      -0.023660991340875626,
+      0.3458281457424164,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3968869149684906,
+      -0.04811721667647362,
+      0.029918519780039787,
+      0.30000001192092896,
+      0.25,
+      0.2274230718612671,
+      0.34243154525756836,
+      1.100000023841858,
+      0.16739509999752045
+    ],
+    "last_action": [
+      0.08242659270763397,
+      -0.053773023188114166,
+      -0.3459376096725464,
+      0.9820370078086853,
+      -0.08565991371870041,
+      -0.09178280830383301,
+      0.1408604085445404,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3610202372074127,
+      0.0,
+      -0.2199999988079071,
+      0.006810678634792566,
+      0.0028949850238859653,
+      -0.023660991340875626,
+      0.3458281457424164,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3968869149684906,
+      -0.04811721667647362,
+      0.029918519780039787,
+      0.30000001192092896,
+      0.25,
+      0.2274230718612671,
+      0.34243154525756836,
+      1.100000023841858,
+      0.16739509999752045
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 326,
+    "seconds": 16.3,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.5520563677563656,
+    "command_speed_max_m_s": 0.3611461237112733,
+    "command_acceleration_p95_m_s2": 0.5922644086560321,
+    "command_jerk_p95_m_s3": 2.31920226864517,
+    "finger_range_rad": [
+      1.010698288679123,
+      0.4790038391947746,
+      1.1574961245059967,
+      1.147597461938858,
+      0.0,
+      0.28574201464653015,
+      0.34669849183410406,
+      0.2087421864271164,
+      0.23947402834892273,
+      1.1610239446163177,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0585409104824066,
+      1.0454975068569183,
+      0.258494820445776,
+      0.31097293086349964,
+      1.1981333792209625,
+      0.8388141393661499,
+      0.7725769281387329,
+      1.0575684309005737,
+      1.0116051733493805,
+      0.8326049000024796
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.9,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5942996895066726,
+        "mean_palm_x": -0.6226196864612469
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6687389814907941,
+        "mean_palm_x": -0.7193215415423263
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6411011658029948,
+        "mean_palm_x": -0.7364476171122895
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5520563677563656,
+        "mean_palm_x": -0.4330327005164897
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5537508051075496,
+        "mean_palm_x": -0.22826123890885974
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5553098195268841,
+        "mean_palm_x": -0.22655414152312306
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6258889200642408,
+        "mean_palm_x": -0.07911094838731639
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8798290690126488,
+        "mean_palm_x": 0.0006712355830453571
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 13,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 13
+  }
+}

meta/controller_episodes/episode_000014.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25616,
+  "scene_seed": 5616,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 328,
+  "recorded": true,
+  "first_success_tick": 328,
+  "post_success_error": null,
+  "command_hash": "a2fab347fd10499bdf2173e33bddfbd1c4645ec9bd6bb50f8544245d965f33e4",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5616,
+    "style": 25616,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.3204577194694773,
+      "width": 0.044278301173609244,
+      "minimum_speed_fraction": 0.05093144610929065
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.038408506588479656,
+      -0.03166991196721504,
+      -0.04080014299732657
+    ],
+    "initial_wrist_xyz_deg": [
+      4.229589807212882,
+      5.390975521596836,
+      10.045440922443074
+    ],
+    "initial_position": [
+      0.33859148621559143,
+      -0.03166991099715233,
+      0.47949981689453125
+    ],
+    "initial_fingers": [
+      0.4108445346355438,
+      0.20687022805213928,
+      0.3157556653022766,
+      0.3279455602169037,
+      0.0,
+      -0.140482097864151,
+      0.007336833048611879,
+      0.006270516198128462,
+      -0.0317964144051075,
+      0.26052671670913696,
+      0.2436041682958603,
+      0.3127143979072571,
+      0.23937538266181946,
+      0.26002782583236694,
+      -0.04961393401026726,
+      0.06119722127914429,
+      0.12520596385002136,
+      0.12855398654937744,
+      0.20590740442276,
+      0.4128556251525879,
+      0.11886179447174072,
+      0.10991212725639343
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -25.004697510694346
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.0866671926495965,
+      "entry": [
+        0.5042204932355676,
+        0.27794622353957277,
+        0.4919196167664773
+      ],
+      "mid": [
+        0.46752116461514404,
+        0.04937363650523713,
+        0.5319196167664773
+      ],
+      "offset_cmd": [
+        0.0850571603009813,
+        0.02698545877076,
+        0.19030330210094115
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.607320349068074,
+        0.08683852823076138,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5616,
+      "style": 25616
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.025005273520946503,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 158,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.007241451378286726,
+      "tilt_deg": 3.629197088885049
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5742804408073425,
+      0.23717372119426727,
+      0.17158135771751404
+    ],
+    "toast_quat": [
+      0.8006564974784851,
+      0.0282979067414999,
+      -0.5973286032676697,
+      0.036699309945106506
+    ],
+    "toast_vel": [
+      6.264961484703235e-06,
+      5.798504503218282e-07,
+      -5.500136921909871e-06
+    ],
+    "toast_ang": [
+      -1.3656449482368771e-05,
+      0.00014611805090680718,
+      -6.014892761641022e-08
+    ],
+    "toast_aabb_lo": [
+      0.5508242845535278,
+      0.1864517629146576,
+      0.12157831341028214
+    ],
+    "toast_aabb_hi": [
+      0.5977365970611572,
+      0.28789567947387695,
+      0.22158439457416534
+    ],
+    "toast_in_toaster_frame": [
+      0.00974342506378889,
+      0.019019806757569313,
+      0.08488135784864426
+    ],
+    "toaster_pos": [
+      0.5941185355186462,
+      0.22922782599925995,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.6736763715744019,
+      0.0,
+      0.0,
+      0.7390265464782715
+    ],
+    "lever_q": [
+      -0.06694645434617996
+    ],
+    "lever_frac": [
+      0.8264994621276855
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.11475434899330139,
+      0.003463019384071231,
+      -0.30565452575683594,
+      0.9862561821937561,
+      -0.029076077044010162,
+      -0.052171800285577774,
+      0.15404990315437317,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.27872082591056824,
+      0.0,
+      -0.2199999988079071,
+      0.011170617304742336,
+      0.01630341075360775,
+      -0.04825039207935333,
+      0.2790754437446594,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.34763282537460327,
+      -0.057394228875637054,
+      0.0267825648188591,
+      0.30000001192092896,
+      0.25,
+      0.14719685912132263,
+      0.32763299345970154,
+      1.100000023841858,
+      0.11389932036399841
+    ],
+    "last_action": [
+      0.11475434899330139,
+      0.003463019384071231,
+      -0.30187755823135376,
+      0.9862561821937561,
+      -0.029076077044010162,
+      -0.052171800285577774,
+      0.15404990315437317,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.27872082591056824,
+      0.0,
+      -0.2199999988079071,
+      0.011170617304742336,
+      0.01630341075360775,
+      -0.04825039207935333,
+      0.2790754437446594,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.34763282537460327,
+      -0.057394228875637054,
+      0.0267825648188591,
+      0.30000001192092896,
+      0.25,
+      0.14719685912132263,
+      0.32763299345970154,
+      1.100000023841858,
+      0.11389932036399841
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 328,
+    "seconds": 16.4,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.3733615299199694,
+    "command_speed_max_m_s": 0.3739533593133819,
+    "command_acceleration_p95_m_s2": 0.5838526758488862,
+    "command_jerk_p95_m_s3": 2.403667838106824,
+    "finger_range_rad": [
+      1.0388183891773224,
+      0.4790038391947746,
+      1.1338450014591217,
+      1.1712792217731476,
+      0.0,
+      0.20854444801807404,
+      0.3416428263299167,
+      0.1936612748540938,
+      0.24825039505958557,
+      1.1890545189380646,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1602159440517426,
+      1.1395707726478577,
+      0.2573942318558693,
+      0.31410888582468033,
+      1.2707068920135498,
+      0.87113918364048,
+      0.8528031408786774,
+      1.0723669826984406,
+      0.9808508530259132,
+      0.8897744715213776
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5851247108103365,
+        "mean_palm_x": -0.5280317000375604
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6006709526428028,
+        "mean_palm_x": -0.7352718092253214
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5906877142871144,
+        "mean_palm_x": -0.7381042086994988
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.1,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3733615299199694,
+        "mean_palm_x": -0.5241778775407435
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.37853491643066306,
+        "mean_palm_x": -0.3770247376864813
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3824107916447904,
+        "mean_palm_x": -0.3745251978757579
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4688023018629517,
+        "mean_palm_x": -0.09881324905140859
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8796827491348,
+        "mean_palm_x": 0.0002941296418814793
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 14,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 14
+  }
+}

meta/controller_episodes/episode_000015.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25617,
+  "scene_seed": 5617,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 323,
+  "recorded": true,
+  "first_success_tick": 323,
+  "post_success_error": null,
+  "command_hash": "86c5544f4aa4c3dd534deec564b94f84049be7fc34164d27d0c8dc92d61d3f44",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5617,
+    "style": 25617,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.3454839980398652,
+      "width": 0.038160806192496136,
+      "minimum_speed_fraction": 0.06428645127336223
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.00217774417273401,
+      0.008818286484480332,
+      -0.04618356541964861
+    ],
+    "initial_wrist_xyz_deg": [
+      5.273797180028289,
+      -10.009006227272476,
+      -5.172962653451625
+    ],
+    "initial_position": [
+      0.3791777491569519,
+      0.008818286471068859,
+      0.47411641478538513
+    ],
+    "initial_fingers": [
+      0.5029995441436768,
+      0.24257975816726685,
+      0.28353026509284973,
+      0.2811751067638397,
+      0.0,
+      -0.10967089235782623,
+      0.0037065164651721716,
+      0.010795417241752148,
+      -0.01804487779736519,
+      0.2955362796783447,
+      0.2858506739139557,
+      0.2989961504936218,
+      0.3995770215988159,
+      0.4131931960582733,
+      -0.029559310525655746,
+      0.04674998298287392,
+      0.18954236805438995,
+      0.21271225810050964,
+      0.10533855855464935,
+      0.30079397559165955,
+      0.11787799000740051,
+      0.16341225802898407
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": -37.6210516670328
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.860766540496596,
+      "entry": [
+        0.4465761300880171,
+        0.2940237360968151,
+        0.4703473623531169
+      ],
+      "mid": [
+        0.4381852804103721,
+        0.0796303817517538,
+        0.510347362353117
+      ],
+      "offset_cmd": [
+        0.08592823959052244,
+        0.016790814317186584,
+        0.192339499707688
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5829986295742698,
+        0.091057425327251,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5617,
+      "style": 25617
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.026958120986819267,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 153,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.008530203813715366,
+      "tilt_deg": 6.318364880984255
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5597293376922607,
+      0.24111275374889374,
+      0.17062991857528687
+    ],
+    "toast_quat": [
+      0.5391029119491577,
+      0.4428277313709259,
+      -0.44813963770866394,
+      -0.5589656233787537
+    ],
+    "toast_vel": [
+      8.473400157527067e-06,
+      -1.0390582474428811e-06,
+      -2.303643213963369e-06
+    ],
+    "toast_ang": [
+      -7.991877646418288e-05,
+      0.00022103468654677272,
+      -1.5016220459074248e-05
+    ],
+    "toast_aabb_lo": [
+      0.5430189967155457,
+      0.18993467092514038,
+      0.12158893048763275
+    ],
+    "toast_aabb_hi": [
+      0.5764396786689758,
+      0.2922908365726471,
+      0.21967089176177979
+    ],
+    "toast_in_toaster_frame": [
+      0.007450597360730171,
+      0.020559171214699745,
+      0.08392991870641708
+    ],
+    "toaster_pos": [
+      0.5804195404052734,
+      0.23403416574001312,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7007012367248535,
+      0.0,
+      0.0,
+      0.7134548425674438
+    ],
+    "lever_q": [
+      -0.06619394570589066
+    ],
+    "lever_frac": [
+      0.8172092437744141
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.04985519126057625,
+      -0.03282332420349121,
+      -0.30027103424072266,
+      0.952579915523529,
+      -0.06879933923482895,
+      0.07043268531560898,
+      0.2879190742969513,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2674100399017334,
+      0.0,
+      -0.2199999988079071,
+      0.010944586247205734,
+      0.00777153205126524,
+      -0.004694830626249313,
+      0.39303091168403625,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.31447234749794006,
+      -0.05315103009343147,
+      0.044052012264728546,
+      0.30000001192092896,
+      0.25,
+      0.16080006957054138,
+      0.3750075399875641,
+      1.100000023841858,
+      0.15824390947818756
+    ],
+    "last_action": [
+      0.04985519126057625,
+      -0.03282332420349121,
+      -0.2964940667152405,
+      0.952579915523529,
+      -0.06879933923482895,
+      0.07043268531560898,
+      0.2879190742969513,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2674100399017334,
+      0.0,
+      -0.2199999988079071,
+      0.010944586247205734,
+      0.00777153205126524,
+      -0.004694830626249313,
+      0.39303091168403625,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.31447234749794006,
+      -0.05315103009343147,
+      0.044052012264728546,
+      0.30000001192092896,
+      0.25,
+      0.16080006957054138,
+      0.3750075399875641,
+      1.100000023841858,
+      0.15824390947818756
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 323,
+    "seconds": 16.15,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.495315605524473,
+    "command_speed_max_m_s": 0.3669963072440843,
+    "command_acceleration_p95_m_s2": 0.5766821533022746,
+    "command_jerk_p95_m_s3": 2.327857188981128,
+    "finger_range_rad": [
+      0.9466958045959473,
+      0.4790038391947746,
+      1.1660590767860413,
+      1.1825900077819824,
+      0.0,
+      0.23934479802846909,
+      0.34527186467312276,
+      0.192228470928967,
+      0.21796810813248158,
+      1.1540572941303253,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.000070720911026,
+      1.085527628660202,
+      0.2531510330736637,
+      0.2968394383788109,
+      1.2063931375741959,
+      0.7870105355978012,
+      0.8943464308977127,
+      1.0988189578056335,
+      0.981834314763546,
+      0.8417560905218124
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5221323933249601,
+        "mean_palm_x": -0.40842618104111506
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5306398302202994,
+        "mean_palm_x": -0.679115456943674
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5090396293353705,
+        "mean_palm_x": -0.6784887194589746
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.503475730738834,
+        "mean_palm_x": -0.3044612965087688
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.495315605524473,
+        "mean_palm_x": -0.029430460497112263
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4953190348484424,
+        "mean_palm_x": -0.02917332743102406
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5759276949604687,
+        "mean_palm_x": 0.010688046273543365
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8850392448607463,
+        "mean_palm_x": 0.0010463934279552373
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 15,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 15
+  }
+}

meta/controller_episodes/episode_000016.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25619,
+  "scene_seed": 5619,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 320,
+  "recorded": true,
+  "first_success_tick": 320,
+  "post_success_error": null,
+  "command_hash": "94ae5a80db30c59a5694111b8520009fd3ae7e0a07a02d87cecaac7e91a3df2e",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5619,
+    "style": 25619,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.3729521027474555,
+      "width": 0.0312108641811908,
+      "minimum_speed_fraction": 0.08422042712848589
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.0472848682269878,
+      -0.014431901370268611,
+      -0.034786194887880595
+    ],
+    "initial_wrist_xyz_deg": [
+      1.4567983365060257,
+      9.682057617387727,
+      -10.394691700022179
+    ],
+    "initial_position": [
+      0.32971513271331787,
+      -0.014431901276111603,
+      0.4855137765407562
+    ],
+    "initial_fingers": [
+      0.3810257911682129,
+      0.3153523802757263,
+      0.2349628359079361,
+      0.351868599653244,
+      0.0,
+      -0.05749903991818428,
+      0.039839401841163635,
+      -0.011669243685901165,
+      -0.002801427850499749,
+      0.37432241439819336,
+      0.17889949679374695,
+      0.27632302045822144,
+      0.29901883006095886,
+      0.3595670461654663,
+      -0.03402487561106682,
+      0.03122934140264988,
+      0.22845375537872314,
+      0.11543197929859161,
+      0.1915135532617569,
+      0.45216596126556396,
+      0.1568356156349182,
+      0.09083602577447891
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -57.79996989436937
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.7601254560775828,
+      "entry": [
+        0.494736037566894,
+        0.2891642242860432,
+        0.4868918371615425
+      ],
+      "mid": [
+        0.47157881752383396,
+        0.08345414028523543,
+        0.5268918371615425
+      ],
+      "offset_cmd": [
+        0.08421241763105991,
+        0.029996565313434125,
+        0.1922702351555094
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5753182324440793,
+        0.07731860999308102,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5619,
+      "style": 25619
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.02412291429936886,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 151,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.007224201863103954,
+      "tilt_deg": 3.4102898063950637
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5729396343231201,
+      0.23004911839962006,
+      0.17179667949676514
+    ],
+    "toast_quat": [
+      0.7920224666595459,
+      -0.04022127762436867,
+      -0.6067867279052734,
+      -0.05378211662173271
+    ],
+    "toast_vel": [
+      7.528989044658374e-06,
+      -1.769989921740489e-06,
+      -5.022956884204177e-06
+    ],
+    "toast_ang": [
+      -1.060743034031475e-05,
+      0.00019517859618645161,
+      -2.7075186153524555e-05
+    ],
+    "toast_aabb_lo": [
+      0.5483850240707397,
+      0.18072736263275146,
+      0.12158837169408798
+    ],
+    "toast_aabb_hi": [
+      0.5974943041801453,
+      0.27937087416648865,
+      0.2220049798488617
+    ],
+    "toast_in_toaster_frame": [
+      0.008499315939843655,
+      0.019499309360980988,
+      0.08509667962789536
+    ],
+    "toaster_pos": [
+      0.5913622379302979,
+      0.21941572427749634,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7457197308540344,
+      0.0,
+      0.0,
+      0.666259765625
+    ],
+    "lever_q": [
+      -0.06842824816703796
+    ],
+    "lever_frac": [
+      0.8447932004928589
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.09098221361637115,
+      -0.022022536024451256,
+      -0.3079027831554413,
+      0.9412994384765625,
+      0.015784844756126404,
+      -0.08385730534791946,
+      0.32661008834838867,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.31348463892936707,
+      0.0,
+      -0.2199999988079071,
+      0.02797723188996315,
+      -0.021515384316444397,
+      -0.021085916087031364,
+      0.3006861209869385,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.35532236099243164,
+      -0.0727383941411972,
+      0.03990166634321213,
+      0.30000001192092896,
+      0.25,
+      0.1769966036081314,
+      0.3144938051700592,
+      1.100000023841858,
+      0.20851434767246246
+    ],
+    "last_action": [
+      0.09098221361637115,
+      -0.022022536024451256,
+      -0.3040320873260498,
+      0.9412994384765625,
+      0.015784844756126404,
+      -0.08385730534791946,
+      0.32661008834838867,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.31348463892936707,
+      0.0,
+      -0.2199999988079071,
+      0.02797723188996315,
+      -0.021515384316444397,
+      -0.021085916087031364,
+      0.3006861209869385,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.35532236099243164,
+      -0.0727383941411972,
+      0.03990166634321213,
+      0.30000001192092896,
+      0.25,
+      0.1769966036081314,
+      0.3144938051700592,
+      1.100000023841858,
+      0.20851434767246246
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 320,
+    "seconds": 16.0,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.2524223941321282,
+    "command_speed_max_m_s": 0.3948566758441693,
+    "command_acceleration_p95_m_s2": 0.644664374167866,
+    "command_jerk_p95_m_s3": 2.599448932571677,
+    "finger_range_rad": [
+      1.0686266422271729,
+      0.4790038391947746,
+      1.2146093994379044,
+      1.1365154087543488,
+      0.0,
+      0.2914982810616493,
+      0.32112276181578636,
+      0.22151538729667664,
+      0.2210859190672636,
+      1.1493139266967773,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.100593477487564,
+      1.0446776151657104,
+      0.27273839712142944,
+      0.30959854647517204,
+      1.167495459318161,
+      0.8842565640807152,
+      0.8230033963918686,
+      1.0855061709880829,
+      0.9428904056549072,
+      0.9088438600301743
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3055641446635412,
+        "mean_palm_x": -0.45729600039780216
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3493408448208617,
+        "mean_palm_x": -0.539620532057089
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.35142841333303987,
+        "mean_palm_x": -0.5281803101072564
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.75,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2524223941321282,
+        "mean_palm_x": -0.28689302680775886
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2690861262466666,
+        "mean_palm_x": -0.11182984033835909
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.26910319084644885,
+        "mean_palm_x": -0.11107756239476056
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.37648311008534596,
+        "mean_palm_x": -0.013332041375966972
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8834699054072093,
+        "mean_palm_x": 0.0022235091058994544
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 16,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 16
+  }
+}

meta/controller_episodes/episode_000017.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25620,
+  "scene_seed": 5620,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 330,
+  "recorded": true,
+  "first_success_tick": 330,
+  "post_success_error": null,
+  "command_hash": "1793d12c3eedff090b477685577950797afa7925f8b7adc51c3a1dd769f16de6",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5620,
+    "style": 25620,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.3202487496203844,
+      "width": 0.034184161699604254,
+      "minimum_speed_fraction": 0.05720762511523339
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.01976264785778116,
+      -0.027300335597441407,
+      0.003915798579778251
+    ],
+    "initial_wrist_xyz_deg": [
+      -7.1088575347152405,
+      -8.222799914844536,
+      4.19700981427296
+    ],
+    "initial_position": [
+      0.3967626392841339,
+      -0.027300335466861725,
+      0.5242157578468323
+    ],
+    "initial_fingers": [
+      0.5893833041191101,
+      0.2721259891986847,
+      0.34121474623680115,
+      0.24718478322029114,
+      0.0,
+      -0.1218850314617157,
+      3.3225824154214934e-05,
+      -0.020526587963104248,
+      -0.04460636153817177,
+      0.273841917514801,
+      0.20806023478507996,
+      0.39708366990089417,
+      0.4115141034126282,
+      0.29582637548446655,
+      -0.06447724997997284,
+      0.05419369786977768,
+      0.20924431085586548,
+      0.14262495934963226,
+      0.1607959121465683,
+      0.4141889214515686,
+      0.22519828379154205,
+      0.16625052690505981
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 0,
+      "heading_deg": 10.236856003059073
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.1086832085176197,
+      "entry": [
+        0.4703874128379698,
+        0.28084678875445357,
+        0.4830193258024291
+      ],
+      "mid": [
+        0.4416133978624282,
+        0.049477912123198464,
+        0.5230193258024292
+      ],
+      "offset_cmd": [
+        0.09398211874102551,
+        0.01661848118013203,
+        0.18827343370604346
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5989127125553914,
+        0.09409698904114919,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5620,
+      "style": 25620
+    },
+    {
+      "tick": 68,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 98,
+      "kind": "bread_lift",
+      "bottom_z": 0.023041997104883194,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 160,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0058907291950398965,
+      "tilt_deg": 3.793096481458573
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5597115755081177,
+      0.24230563640594482,
+      0.17045491933822632
+    ],
+    "toast_quat": [
+      0.4831728935241699,
+      -0.46570444107055664,
+      -0.5320857763290405,
+      0.516282856464386
+    ],
+    "toast_vel": [
+      4.7970597734092735e-06,
+      3.393524821149185e-05,
+      -2.894425279009738e-06
+    ],
+    "toast_ang": [
+      -0.0007179930689744651,
+      0.00010207560262642801,
+      -1.3510533847238548e-07
+    ],
+    "toast_aabb_lo": [
+      0.548599123954773,
+      0.19022780656814575,
+      0.12162766605615616
+    ],
+    "toast_aabb_hi": [
+      0.5708239674568176,
+      0.2943834662437439,
+      0.21928218007087708
+    ],
+    "toast_in_toaster_frame": [
+      0.007818222045898438,
+      0.027502646669745445,
+      0.08375491946935654
+    ],
+    "toaster_pos": [
+      0.587740957736969,
+      0.2366599291563034,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.6789240837097168,
+      0.0,
+      0.0,
+      0.7342084646224976
+    ],
+    "lever_q": [
+      -0.06654047220945358
+    ],
+    "lever_frac": [
+      0.821487307548523
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.0472220778465271,
+      0.00824644509702921,
+      -0.35039058327674866,
+      0.9750247001647949,
+      0.045750267803668976,
+      0.08277228474617004,
+      0.20095407962799072,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3439044952392578,
+      0.0,
+      -0.2199999988079071,
+      0.03614851087331772,
+      -0.02231530472636223,
+      -0.0026666740886867046,
+      0.34794601798057556,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3638697862625122,
+      -0.04218797758221626,
+      0.07208842039108276,
+      0.30000001192092896,
+      0.25,
+      0.17129869759082794,
+      0.42107585072517395,
+      1.100000023841858,
+      0.18175067007541656
+    ],
+    "last_action": [
+      0.0472220778465271,
+      0.00824644509702921,
+      -0.3466136157512665,
+      0.9750247001647949,
+      0.045750267803668976,
+      0.08277228474617004,
+      0.20095407962799072,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3439044952392578,
+      0.0,
+      -0.2199999988079071,
+      0.03614851087331772,
+      -0.02231530472636223,
+      -0.0026666740886867046,
+      0.34794601798057556,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3638697862625122,
+      -0.04218797758221626,
+      0.07208842039108276,
+      0.30000001192092896,
+      0.25,
+      0.17129869759082794,
+      0.42107585072517395,
+      1.100000023841858,
+      0.18175067007541656
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 330,
+    "seconds": 16.5,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.5075863441841589,
+    "command_speed_max_m_s": 0.3605899642031712,
+    "command_acceleration_p95_m_s2": 0.5593506036241448,
+    "command_jerk_p95_m_s3": 2.312502157128058,
+    "finger_range_rad": [
+      0.8603873252868652,
+      0.4790038391947746,
+      1.1084587275981903,
+      1.2024610042572021,
+      0.0,
+      0.22714804112911224,
+      0.348963958749664,
+      0.22231530770659447,
+      0.24453432112932205,
+      1.1758117079734802,
+      1.4726269915699959,
+      0.7218103408813477,
+      0.9881947338581085,
+      1.103848397731781,
+      0.26439935714006424,
+      0.2866513468325138,
+      1.1867565959692001,
+      0.8571225255727768,
+      0.8389569222927094,
+      0.9855207204818726,
+      0.8745926767587662,
+      0.8335039168596268
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6150309047967082,
+        "mean_palm_x": -0.47646453780221537
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6559168822723501,
+        "mean_palm_x": -0.6831846358429563
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6495509136807884,
+        "mean_palm_x": -0.6760597031810766
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.1,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5075863441841589,
+        "mean_palm_x": -0.4023125253588616
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.507831633224126,
+        "mean_palm_x": -0.19973320249140208
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5078341764314185,
+        "mean_palm_x": -0.19830399407987848
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5863063671076347,
+        "mean_palm_x": -0.03846052642819339
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8835129706484289,
+        "mean_palm_x": 0.002293918173077928
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 17,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 17
+  }
+}

meta/controller_episodes/episode_000018.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25621,
+  "scene_seed": 5621,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 340,
+  "recorded": true,
+  "first_success_tick": 340,
+  "post_success_error": null,
+  "command_hash": "e3f38d43c006d0a9503eeee24b5a92a0cef06d48bb7c8fc6206f83c6c83498d5",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5621,
+    "style": 25621,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5979305906629415,
+      "width": 0.03171215865276441,
+      "minimum_speed_fraction": 0.02720472938648726
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.015496151541730577,
+      0.032942583409981255,
+      0.042308906255394615
+    ],
+    "initial_wrist_xyz_deg": [
+      9.097641437997101,
+      -7.97978149919446,
+      -1.109591195693133
+    ],
+    "initial_position": [
+      0.39249616861343384,
+      0.03294258192181587,
+      0.5626088976860046
+    ],
+    "initial_fingers": [
+      0.369894802570343,
+      0.28653791546821594,
+      0.31472328305244446,
+      0.31979110836982727,
+      0.0,
+      -0.044756561517715454,
+      0.04271344467997551,
+      -0.007883090525865555,
+      -0.03835250809788704,
+      0.3957102596759796,
+      0.18490374088287354,
+      0.3030968904495239,
+      0.28973695635795593,
+      0.2944951057434082,
+      -0.04714687168598175,
+      0.049117311835289,
+      0.18841370940208435,
+      0.1354576200246811,
+      0.22032314538955688,
+      0.33046138286590576,
+      0.09098012000322342,
+      0.08300627768039703
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 3,
+      "heading_deg": -9.075236908123305
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.2690727576677507,
+      "entry": [
+        0.4692041516235091,
+        0.3067717481420611,
+        0.4747939671881305
+      ],
+      "mid": [
+        0.4462247461046088,
+        0.06267053280106061,
+        0.5147939671881305
+      ],
+      "offset_cmd": [
+        0.09146912537092179,
+        0.024473536878758806,
+        0.19640341226999047
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5887214482099027,
+        0.0870191491903847,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5621,
+      "style": 25621
+    },
+    {
+      "tick": 74,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 104,
+      "kind": "bread_lift",
+      "bottom_z": 0.017673563212156296,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 169,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.009723540136329745,
+      "tilt_deg": 2.3423377842560718
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5786867141723633,
+      0.23512950539588928,
+      0.17219504714012146
+    ],
+    "toast_quat": [
+      -0.048246558755636215,
+      0.640740692615509,
+      -0.06150544807314873,
+      -0.763767421245575
+    ],
+    "toast_vel": [
+      9.705025149742141e-06,
+      -1.5600114693370415e-06,
+      -4.547602657112293e-06
+    ],
+    "toast_ang": [
+      -1.9991275621578097e-05,
+      0.00025118631310760975,
+      -1.601694748387672e-05
+    ],
+    "toast_aabb_lo": [
+      0.5572877526283264,
+      0.18522946536540985,
+      0.12159581482410431
+    ],
+    "toast_aabb_hi": [
+      0.6000857353210449,
+      0.2850295603275299,
+      0.2227942794561386
+    ],
+    "toast_in_toaster_frame": [
+      0.003854086622595787,
+      0.021708320826292038,
+      0.08549504727125168
+    ],
+    "toaster_pos": [
+      0.600022554397583,
+      0.2295718938112259,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.734516441822052,
+      0.0,
+      0.0,
+      0.6785909533500671
+    ],
+    "lever_q": [
+      -0.06825036555528641
+    ],
+    "lever_frac": [
+      0.8425971269607544
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.04197174683213234,
+      -0.06042557954788208,
+      -0.3924250900745392,
+      0.9611337184906006,
+      -0.09400808066129684,
+      0.047252729535102844,
+      0.25524815917015076,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3276357054710388,
+      0.0,
+      -0.2199999988079071,
+      0.018362728878855705,
+      -0.009807526133954525,
+      -0.032481975853443146,
+      0.3512454330921173,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.43560346961021423,
+      -0.04220718517899513,
+      0.06961306929588318,
+      0.30000001192092896,
+      0.25,
+      0.12036018073558807,
+      0.33750271797180176,
+      1.100000023841858,
+      0.20310723781585693
+    ],
+    "last_action": [
+      0.04197174683213234,
+      -0.06042557954788208,
+      -0.388767272233963,
+      0.9611337184906006,
+      -0.09400808066129684,
+      0.047252729535102844,
+      0.25524815917015076,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3276357054710388,
+      0.0,
+      -0.2199999988079071,
+      0.018362728878855705,
+      -0.009807526133954525,
+      -0.032481975853443146,
+      0.3512454330921173,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.43560346961021423,
+      -0.04220718517899513,
+      0.06961306929588318,
+      0.30000001192092896,
+      0.25,
+      0.12036018073558807,
+      0.33750271797180176,
+      1.100000023841858,
+      0.20310723781585693
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 340,
+    "seconds": 17.0,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.44745016079543404,
+    "command_speed_max_m_s": 0.38967524228806155,
+    "command_acceleration_p95_m_s2": 0.5278593834797166,
+    "command_jerk_p95_m_s3": 2.197465984573135,
+    "finger_range_rad": [
+      1.079935222864151,
+      0.4790038391947746,
+      1.1350834667682648,
+      1.1300164759159088,
+      0.0,
+      0.30429160967469215,
+      0.3307372648268938,
+      0.20980752911418676,
+      0.23831192404031754,
+      1.0987546145915985,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1100739538669586,
+      1.1053166389465332,
+      0.24710479006171227,
+      0.29174644500017166,
+      1.2077098041772842,
+      0.8643951714038849,
+      0.8796398192644119,
+      1.0693564713001251,
+      1.0088761821389198,
+      0.9168375805020332
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 3.1,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6814572346899528,
+        "mean_palm_x": -0.481213908560612
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6667727817388339,
+        "mean_palm_x": -0.7425231513705001
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6541059427740336,
+        "mean_palm_x": -0.7425189439609798
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.25,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4498502821424294,
+        "mean_palm_x": -0.3442637844326412
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.44745016079543404,
+        "mean_palm_x": -0.05243445852288826
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.44745208505769707,
+        "mean_palm_x": -0.05204520339026988
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5355889485544241,
+        "mean_palm_x": -0.015605538718756388
+      },
+      "Press the lever down": {
+        "seconds": 1.1,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8813917946055063,
+        "mean_palm_x": -0.000727286400834488
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 18,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 18
+  }
+}

meta/controller_episodes/episode_000019.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25622,
+  "scene_seed": 5622,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 337,
+  "recorded": true,
+  "first_success_tick": 337,
+  "post_success_error": null,
+  "command_hash": "179f4cfa0da78178e2b503e84e7076f68fc869d655324792ecf297432c42ae1f",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5622,
+    "style": 25622,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5696656436705747,
+      "width": 0.041718983381022694,
+      "minimum_speed_fraction": 0.06943194372132683
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.008567661571194984,
+      -0.041334997122483,
+      0.003910458951124816
+    ],
+    "initial_wrist_xyz_deg": [
+      11.434574784743347,
+      -5.183833850354475,
+      8.382899936359845
+    ],
+    "initial_position": [
+      0.38556766510009766,
+      -0.04133499786257744,
+      0.5242104530334473
+    ],
+    "initial_fingers": [
+      0.35959702730178833,
+      0.24697035551071167,
+      0.2159513384103775,
+      0.3822004199028015,
+      0.0,
+      -0.10733342170715332,
+      0.00810161791741848,
+      0.008390147238969803,
+      -0.0018728302093222737,
+      0.2816556394100189,
+      0.1913594752550125,
+      0.2876257002353668,
+      0.2810728847980499,
+      0.2533554434776306,
+      -0.05973394587635994,
+      0.06299105286598206,
+      0.20054037868976593,
+      0.09674622863531113,
+      0.18860280513763428,
+      0.3299570381641388,
+      0.17467840015888214,
+      0.23065847158432007
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -16.67231366856049
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.48429753876331,
+      "entry": [
+        0.5093440411546566,
+        0.3071628872078304,
+        0.477159727368119
+      ],
+      "mid": [
+        0.4431829749573637,
+        0.0543545292576971,
+        0.517159727368119
+      ],
+      "offset_cmd": [
+        0.08819708311524131,
+        0.019228190340788154,
+        0.18975191479747733
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5937892561767584,
+        0.08296327923405938,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5622,
+      "style": 25622
+    },
+    {
+      "tick": 68,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 98,
+      "kind": "bread_lift",
+      "bottom_z": 0.024158447980880737,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 168,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.008134872626351018,
+      "tilt_deg": 5.3060261794465
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5961083173751831,
+      0.2378167062997818,
+      0.17231568694114685
+    ],
+    "toast_quat": [
+      0.7500089406967163,
+      -0.055449243634939194,
+      -0.6559499502182007,
+      -0.06435485929250717
+    ],
+    "toast_vel": [
+      -6.285335530265002e-06,
+      1.4515245538859745e-06,
+      1.9142680685035884e-07
+    ],
+    "toast_ang": [
+      5.776524994871579e-05,
+      -0.00017662878963164985,
+      -1.584800628506855e-07
+    ],
+    "toast_aabb_lo": [
+      0.5759333968162537,
+      0.18866074085235596,
+      0.12159499526023865
+    ],
+    "toast_aabb_hi": [
+      0.6162832975387573,
+      0.28697267174720764,
+      0.22303637862205505
+    ],
+    "toast_in_toaster_frame": [
+      0.01069300714880228,
+      0.019063640385866165,
+      0.08561568707227707
+    ],
+    "toaster_pos": [
+      0.6135147213935852,
+      0.2245962768793106,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.754301130771637,
+      0.0,
+      0.0,
+      0.656528651714325
+    ],
+    "lever_q": [
+      -0.06740693747997284
+    ],
+    "lever_frac": [
+      0.8321844339370728
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.054200928658246994,
+      0.00934209767729044,
+      -0.346588671207428,
+      0.9787102341651917,
+      -0.10572869330644608,
+      0.02738574892282486,
+      0.17377488315105438,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3328128159046173,
+      0.0,
+      -0.2199999988079071,
+      0.012353700585663319,
+      -0.0036324725951999426,
+      -0.03809241205453873,
+      0.39442482590675354,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.37482085824012756,
+      -0.034980278462171555,
+      0.050343822687864304,
+      0.30000001192092896,
+      0.25,
+      0.08623841404914856,
+      0.33748066425323486,
+      1.100000023841858,
+      0.21225036680698395
+    ],
+    "last_action": [
+      0.054200928658246994,
+      0.00934209767729044,
+      -0.3427179753780365,
+      0.9787102341651917,
+      -0.10572869330644608,
+      0.02738574892282486,
+      0.17377488315105438,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3328128159046173,
+      0.0,
+      -0.2199999988079071,
+      0.012353700585663319,
+      -0.0036324725951999426,
+      -0.03809241205453873,
+      0.39442482590675354,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.37482085824012756,
+      -0.034980278462171555,
+      0.050343822687864304,
+      0.30000001192092896,
+      0.25,
+      0.08623841404914856,
+      0.33748066425323486,
+      1.100000023841858,
+      0.21225036680698395
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 337,
+    "seconds": 16.85,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.3476319130197977,
+    "command_speed_max_m_s": 0.40029727644369256,
+    "command_acceleration_p95_m_s2": 0.5928663979395924,
+    "command_jerk_p95_m_s3": 2.2711878847050935,
+    "finger_range_rad": [
+      1.09010848402977,
+      0.4790038391947746,
+      1.233688399195671,
+      1.1171872317790985,
+      0.0,
+      0.24169597774744034,
+      0.3408988118171692,
+      0.20363247557543218,
+      0.23809241503477097,
+      1.1680032908916473,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1186003983020782,
+      1.146309733390808,
+      0.2596581131219864,
+      0.2905476279556751,
+      1.1954605728387833,
+      0.9029900431632996,
+      0.9137615859508514,
+      1.069730520248413,
+      0.9250996112823486,
+      0.787749633193016
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5942249464377822,
+        "mean_palm_x": -0.5820689529488667
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6470371288196577,
+        "mean_palm_x": -0.7438463182517877
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6404519540841062,
+        "mean_palm_x": -0.744303296995023
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3476319130197977,
+        "mean_palm_x": -0.36447372506275344
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3587320445023261,
+        "mean_palm_x": -0.08037242459449236
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3587323532082219,
+        "mean_palm_x": -0.07956012637792004
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4544442171979892,
+        "mean_palm_x": -0.028189574832712946
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8831306290858867,
+        "mean_palm_x": 0.001824075319715801
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 19,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 19
+  }
+}

meta/controller_episodes/episode_000020.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25624,
+  "scene_seed": 5624,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 324,
+  "recorded": true,
+  "first_success_tick": 324,
+  "post_success_error": null,
+  "command_hash": "7fdfd5647935aab6bb24bb93a6d15c41ece8a48e5116e4097212dfadcc15d819",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5624,
+    "style": 25624,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.49804080380435406,
+      "width": 0.02998048828513691,
+      "minimum_speed_fraction": 0.05840567497771491
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.014406636693686428,
+      -0.009119369954648751,
+      0.021556670133298483
+    ],
+    "initial_wrist_xyz_deg": [
+      8.10324249300404,
+      -5.339368936071493,
+      5.914124490040567
+    ],
+    "initial_position": [
+      0.3914066553115845,
+      -0.009119370020925999,
+      0.5418566465377808
+    ],
+    "initial_fingers": [
+      0.3890336751937866,
+      0.2159995585680008,
+      0.22398264706134796,
+      0.38480597734451294,
+      0.0,
+      -0.09958197921514511,
+      0.016840754076838493,
+      0.01279541291296482,
+      -0.0058739073574543,
+      0.37729039788246155,
+      0.26863014698028564,
+      0.26961347460746765,
+      0.39580830931663513,
+      0.415227472782135,
+      -0.06334948539733887,
+      0.05395270138978958,
+      0.23423847556114197,
+      0.20225653052330017,
+      0.13578122854232788,
+      0.28398916125297546,
+      0.13673073053359985,
+      0.1054031252861023
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -63.94879995890822
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.8108236208674073,
+      "entry": [
+        0.49567118405748284,
+        0.2793708215974195,
+        0.48807894480047953
+      ],
+      "mid": [
+        0.46479752719128564,
+        0.0708320474039725,
+        0.5280789448004796
+      ],
+      "offset_cmd": [
+        0.08604794645903092,
+        0.021960895964029573,
+        0.19061005577917203
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.572160966840103,
+        0.07079239624073008,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5624,
+      "style": 25624
+    },
+    {
+      "tick": 69,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 99,
+      "kind": "bread_lift",
+      "bottom_z": 0.02503782883286476,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 155,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.006769741820000315,
+      "tilt_deg": 5.633103964470342
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5683133602142334,
+      0.22238123416900635,
+      0.17152827978134155
+    ],
+    "toast_quat": [
+      0.802371621131897,
+      -0.02850165218114853,
+      -0.5948218703269958,
+      -0.03967688977718353
+    ],
+    "toast_vel": [
+      6.143084192444803e-06,
+      -6.295827006397303e-07,
+      -5.451187462313101e-06
+    ],
+    "toast_ang": [
+      1.401767076458782e-05,
+      0.0001441710046492517,
+      -5.29727458342677e-07
+    ],
+    "toast_aabb_lo": [
+      0.5437945127487183,
+      0.17320208251476288,
+      0.1215798407793045
+    ],
+    "toast_aabb_hi": [
+      0.5928322076797485,
+      0.2715603709220886,
+      0.2214767038822174
+    ],
+    "toast_in_toaster_frame": [
+      0.007460182532668114,
+      0.018860381096601486,
+      0.08482827991247177
+    ],
+    "toaster_pos": [
+      0.5863410234451294,
+      0.21308760344982147,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7413370609283447,
+      0.0,
+      0.0,
+      0.6711329221725464
+    ],
+    "lever_q": [
+      -0.06716550141572952
+    ],
+    "lever_frac": [
+      0.829203724861145
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.02708480879664421,
+      -0.03571761026978493,
+      -0.3642323315143585,
+      0.9773380756378174,
+      -0.07817095518112183,
+      0.032082173973321915,
+      0.19408853352069855,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2910235524177551,
+      0.0,
+      -0.2199999988079071,
+      0.0034123833756893873,
+      0.004318319261074066,
+      -0.03122881054878235,
+      0.37974250316619873,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.36542126536369324,
+      -0.04814865067601204,
+      0.05558772385120392,
+      0.30000001192092896,
+      0.25,
+      0.23627781867980957,
+      0.33937951922416687,
+      1.100000023841858,
+      0.1747051179409027
+    ],
+    "last_action": [
+      0.02708480879664421,
+      -0.03571761026978493,
+      -0.36036163568496704,
+      0.9773380756378174,
+      -0.07817095518112183,
+      0.032082173973321915,
+      0.19408853352069855,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2910235524177551,
+      0.0,
+      -0.2199999988079071,
+      0.0034123833756893873,
+      0.004318319261074066,
+      -0.03122881054878235,
+      0.37974250316619873,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.36542126536369324,
+      -0.04814865067601204,
+      0.05558772385120392,
+      0.30000001192092896,
+      0.25,
+      0.23627781867980957,
+      0.33937951922416687,
+      1.100000023841858,
+      0.1747051179409027
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 324,
+    "seconds": 16.2,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.23732259622773474,
+    "command_speed_max_m_s": 0.39307120518195504,
+    "command_acceleration_p95_m_s2": 0.6236417777378125,
+    "command_jerk_p95_m_s3": 2.396762415949038,
+    "finger_range_rad": [
+      1.0606951117515564,
+      0.4790038391947746,
+      1.2256778180599213,
+      1.1589764952659607,
+      0.0,
+      0.24944890290498734,
+      0.3456876103300601,
+      0.19568168371915817,
+      0.2312288135290146,
+      1.072412520647049,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0039135217666626,
+      1.0345787107944489,
+      0.2632765471935272,
+      0.286895040422678,
+      1.1617871671915054,
+      0.7975225001573563,
+      0.8639793992042542,
+      1.1157017052173615,
+      0.9630481749773026,
+      0.8943490833044052
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.23732259622773474,
+        "mean_palm_x": -0.36015874846395063
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.286513249279699,
+        "mean_palm_x": -0.4762694972726789
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2787682041524845,
+        "mean_palm_x": -0.4525876162844443
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.27950618221856327,
+        "mean_palm_x": -0.2854197005338339
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.29956903045541916,
+        "mean_palm_x": -0.14717844339968317
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2995685171256594,
+        "mean_palm_x": -0.14612504890785338
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4001026997675642,
+        "mean_palm_x": -0.04447982934276311
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8836955836939202,
+        "mean_palm_x": 0.002493654367224249
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 20,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 20
+  }
+}

meta/controller_episodes/episode_000021.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25625,
+  "scene_seed": 5625,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 324,
+  "recorded": true,
+  "first_success_tick": 324,
+  "post_success_error": null,
+  "command_hash": "d44320ad9c39fb5de3f4556edb277438b9120f9fb109ca616fd59a09bcbe60fe",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5625,
+    "style": 25625,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.33816149896162706,
+      "width": 0.02886686766698846,
+      "minimum_speed_fraction": 0.036324332349516396
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.022516455291157846,
+      -0.033355952180612145,
+      -0.03683908976587207
+    ],
+    "initial_wrist_xyz_deg": [
+      0.2568620301336946,
+      -6.492321847065558,
+      -7.771812902511527
+    ],
+    "initial_position": [
+      0.3544834852218628,
+      -0.03335781767964363,
+      0.48346105217933655
+    ],
+    "initial_fingers": [
+      0.5722375512123108,
+      0.22363370656967163,
+      0.35760223865509033,
+      0.3529340922832489,
+      -8.836330001038561e-10,
+      -0.15971648693084717,
+      0.04211661219596863,
+      -0.019790949299931526,
+      -0.038032375276088715,
+      0.2766740322113037,
+      0.28617072105407715,
+      0.2917782664299011,
+      0.3451029062271118,
+      0.37785813212394714,
+      -0.06693034619092941,
+      0.0712728425860405,
+      0.22484925389289856,
+      0.16893208026885986,
+      0.17997470498085022,
+      0.39948490262031555,
+      0.08374596387147903,
+      0.174967423081398
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -70.6423912574587
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.8963713715330113,
+      "entry": [
+        0.5175635316324202,
+        0.28794051841086504,
+        0.49856317364159586
+      ],
+      "mid": [
+        0.4753077973103507,
+        0.07486214555892526,
+        0.5385631736415959
+      ],
+      "offset_cmd": [
+        0.09289988990431437,
+        0.027311333282218617,
+        0.1991287063750233
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.6028191910213972,
+        0.08076679819319582,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5625,
+      "style": 25625
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.013589130714535713,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 154,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.002912715284137157,
+      "tilt_deg": 1.628294799714645
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5963193774223328,
+      0.23258580267429352,
+      0.1717722862958908
+    ],
+    "toast_quat": [
+      0.7946332693099976,
+      -0.022241832688450813,
+      -0.6059293150901794,
+      -0.030211228877305984
+    ],
+    "toast_vel": [
+      4.880263531958917e-06,
+      -5.656850987634243e-09,
+      -2.8558029043779243e-06
+    ],
+    "toast_ang": [
+      3.045885569008533e-05,
+      0.00011229956726310775,
+      -4.8529136620345525e-06
+    ],
+    "toast_aabb_lo": [
+      0.5740054249763489,
+      0.18343570828437805,
+      0.12160998582839966
+    ],
+    "toast_aabb_hi": [
+      0.6186333298683167,
+      0.281735897064209,
+      0.22193458676338196
+    ],
+    "toast_in_toaster_frame": [
+      0.007786338217556477,
+      0.018834488466382027,
+      0.08507228642702103
+    ],
+    "toaster_pos": [
+      0.6144576668739319,
+      0.22329239547252655,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7353189587593079,
+      0.0,
+      0.0,
+      0.6777212023735046
+    ],
+    "lever_q": [
+      -0.06722582876682281
+    ],
+    "lever_frac": [
+      0.8299485445022583
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.09343411028385162,
+      0.0009197824401780963,
+      -0.3096350431442261,
+      0.9501011967658997,
+      -0.01952095702290535,
+      0.05320204049348831,
+      0.30675092339515686,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3524554967880249,
+      0.0,
+      -0.2199999988079071,
+      0.035441093146800995,
+      0.024401547387242317,
+      -0.03696277737617493,
+      0.26138579845428467,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.36621904373168945,
+      -0.031203247606754303,
+      0.03829360008239746,
+      0.30000001192092896,
+      0.25,
+      0.23411710560321808,
+      0.33602622151374817,
+      1.100000023841858,
+      0.2166772484779358
+    ],
+    "last_action": [
+      0.09343411028385162,
+      0.0009197824401780963,
+      -0.3058580458164215,
+      0.9501011967658997,
+      -0.01952095702290535,
+      0.05320204049348831,
+      0.30675092339515686,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3524554967880249,
+      0.0,
+      -0.2199999988079071,
+      0.035441093146800995,
+      0.024401547387242317,
+      -0.03696277737617493,
+      0.26138579845428467,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.36621904373168945,
+      -0.031203247606754303,
+      0.03829360008239746,
+      0.30000001192092896,
+      0.25,
+      0.23411710560321808,
+      0.33602622151374817,
+      1.100000023841858,
+      0.2166772484779358
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 324,
+    "seconds": 16.2,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.20328844261530254,
+    "command_speed_max_m_s": 0.395218136315537,
+    "command_acceleration_p95_m_s2": 0.6166086541404567,
+    "command_jerk_p95_m_s3": 2.3600759686760737,
+    "finger_range_rad": [
+      0.8774821758270264,
+      0.4790038391947746,
+      1.1000000536441803,
+      1.097544550895691,
+      0.0,
+      0.18931682407855988,
+      0.3136589005589485,
+      0.21971356496214867,
+      0.23794856667518616,
+      1.1886142492294312,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0545256435871124,
+      1.0337809324264526,
+      0.26683636009693146,
+      0.30259785056114197,
+      1.1710986942052841,
+      0.8307753056287766,
+      0.8197365701198578,
+      1.063973754644394,
+      1.0159543231129646,
+      0.8247420787811279
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2133719713008725,
+        "mean_palm_x": -0.3266820438139251
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.226852371200776,
+        "mean_palm_x": -0.40827185312835074
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.20328844261530254,
+        "mean_palm_x": -0.38931286382752917
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.9,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.22615312466966098,
+        "mean_palm_x": -0.2482054499133779
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2967424596560234,
+        "mean_palm_x": -0.14731649402743496
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2967406432329314,
+        "mean_palm_x": -0.14634025363098485
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.39871236245488917,
+        "mean_palm_x": -0.022807524943513145
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8781431052691459,
+        "mean_palm_x": 0.0013136395938266692
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 21,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 21
+  }
+}

meta/controller_episodes/episode_000022.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25626,
+  "scene_seed": 5626,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 338,
+  "recorded": true,
+  "first_success_tick": 338,
+  "post_success_error": null,
+  "command_hash": "c4bdef6ce05746e474a6bc99bfaa011390e7f3323490d49fecfbde67b3ec9ea9",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5626,
+    "style": 25626,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.6209040443770071,
+      "width": 0.025222358745699322,
+      "minimum_speed_fraction": 0.027848605138526154
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.023151348488356177,
+      -0.019285126684397094,
+      0.049873278983959254
+    ],
+    "initial_wrist_xyz_deg": [
+      4.386460418637384,
+      2.4692878191889385,
+      9.334431193580109
+    ],
+    "initial_position": [
+      0.4001513421535492,
+      -0.019285127520561218,
+      0.5701732635498047
+    ],
+    "initial_fingers": [
+      0.550622284412384,
+      0.32818323373794556,
+      0.31346821784973145,
+      0.2971225082874298,
+      0.0,
+      -0.13736724853515625,
+      0.012523126788437366,
+      0.01717349886894226,
+      -0.024058325216174126,
+      0.26650336384773254,
+      0.20654185116291046,
+      0.3772420883178711,
+      0.40458884835243225,
+      0.26669517159461975,
+      -0.0627548024058342,
+      0.036977171897888184,
+      0.2194821983575821,
+      0.11800599843263626,
+      0.10747392475605011,
+      0.31936001777648926,
+      0.09428077191114426,
+      0.20397686958312988
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 3,
+      "heading_deg": -25.998635625379688
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.331222912857156,
+      "entry": [
+        0.4999620066581121,
+        0.31293766375526977,
+        0.480256232689557
+      ],
+      "mid": [
+        0.4478074335305865,
+        0.0686002233432988,
+        0.520256232689557
+      ],
+      "offset_cmd": [
+        0.08601841941168538,
+        0.01991453269516404,
+        0.18839639602722733
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5798453441803945,
+        0.09750828017811686,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5626,
+      "style": 25626
+    },
+    {
+      "tick": 72,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 102,
+      "kind": "bread_lift",
+      "bottom_z": 0.027444330975413322,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 169,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.009277016824609598,
+      "tilt_deg": 7.135432651643313
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.566347599029541,
+      0.2546105682849884,
+      0.17194293439388275
+    ],
+    "toast_quat": [
+      -0.0530257374048233,
+      0.7030086517333984,
+      -0.0760238766670227,
+      -0.7051151990890503
+    ],
+    "toast_vel": [
+      -6.331279291771352e-05,
+      -2.4936856789281592e-05,
+      3.766509689739905e-05
+    ],
+    "toast_ang": [
+      0.0005258210585452616,
+      -0.0013329354114830494,
+      2.1329621802124166e-07
+    ],
+    "toast_aabb_lo": [
+      0.5512329936027527,
+      0.2036696821451187,
+      0.12162768840789795
+    ],
+    "toast_aabb_hi": [
+      0.5814622044563293,
+      0.3055514693260193,
+      0.22225818037986755
+    ],
+    "toast_in_toaster_frame": [
+      0.010869026184082031,
+      0.03446217626333237,
+      0.08524293452501297
+    ],
+    "toaster_pos": [
+      0.5990390777587891,
+      0.23921431601047516,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7530677318572998,
+      0.0,
+      0.0,
+      0.657943069934845
+    ],
+    "lever_q": [
+      -0.06716911494731903
+    ],
+    "lever_frac": [
+      0.8292483687400818
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.025386584922671318,
+      0.0023972075432538986,
+      -0.3925555944442749,
+      0.9859450459480286,
+      -0.03426259383559227,
+      -0.02745078317821026,
+      0.16119827330112457,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3649289906024933,
+      0.0,
+      -0.2199999988079071,
+      0.019762491807341576,
+      -0.01833287440240383,
+      -0.03528423234820366,
+      0.35167190432548523,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3145115375518799,
+      -0.061948709189891815,
+      0.044978879392147064,
+      0.30000001192092896,
+      0.25,
+      0.14760352671146393,
+      0.33735010027885437,
+      1.100000023841858,
+      0.23637543618679047
+    ],
+    "last_action": [
+      0.025386584922671318,
+      0.0023972075432538986,
+      -0.3886848986148834,
+      0.9859450459480286,
+      -0.03426259383559227,
+      -0.02745078317821026,
+      0.16119827330112457,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3649289906024933,
+      0.0,
+      -0.2199999988079071,
+      0.019762491807341576,
+      -0.01833287440240383,
+      -0.03528423234820366,
+      0.35167190432548523,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3145115375518799,
+      -0.061948709189891815,
+      0.044978879392147064,
+      0.30000001192092896,
+      0.25,
+      0.14760352671146393,
+      0.33735010027885437,
+      1.100000023841858,
+      0.23637543618679047
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 338,
+    "seconds": 16.9,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.3342313720923883,
+    "command_speed_max_m_s": 0.3945828065942449,
+    "command_acceleration_p95_m_s2": 0.5495644588691737,
+    "command_jerk_p95_m_s3": 2.2108993051505146,
+    "finger_range_rad": [
+      0.89920973777771,
+      0.4790038391947746,
+      1.1362982988357544,
+      1.1526406407356262,
+      0.0,
+      0.21168923377990723,
+      0.33650770504027605,
+      0.21833287738263607,
+      0.2352842353284359,
+      1.1832534968852997,
+      1.4726269915699959,
+      0.7218103408813477,
+      0.9952065944671631,
+      1.1330719292163849,
+      0.26270081102848053,
+      0.3038783632218838,
+      1.176611214876175,
+      0.8818127661943436,
+      0.892342671751976,
+      1.0804179012775421,
+      1.0055464878678322,
+      0.7958595603704453
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 3.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6237298400244929,
+        "mean_palm_x": -0.47065016177043856
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6079331251021712,
+        "mean_palm_x": -0.7294433641671941
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6025888617759647,
+        "mean_palm_x": -0.7210807107711026
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3372969226175066,
+        "mean_palm_x": -0.3600781021355446
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3342313720923883,
+        "mean_palm_x": -0.09175973071081532
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.33423814149375386,
+        "mean_palm_x": -0.09105286254655579
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4349589921246726,
+        "mean_palm_x": 0.018156964643730865
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8834340352210402,
+        "mean_palm_x": 0.003627797947379402
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 22,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 22
+  }
+}

meta/controller_episodes/episode_000023.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25627,
+  "scene_seed": 5627,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 328,
+  "recorded": true,
+  "first_success_tick": 328,
+  "post_success_error": null,
+  "command_hash": "5fe8b8479b1b2fc5bba82d78e795eae83b2c0d09b38fbeb59779a1fb6ab0e195",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5627,
+    "style": 25627,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.3982405767474729,
+      "width": 0.03693162002743603,
+      "minimum_speed_fraction": 0.04806279701991854
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.0412135737406694,
+      -0.0010411410348789008,
+      -0.0070671250895657095
+    ],
+    "initial_wrist_xyz_deg": [
+      -11.278617014706741,
+      -3.799775879429255,
+      7.903311026739385
+    ],
+    "initial_position": [
+      0.3357864320278168,
+      -0.0010411409894004464,
+      0.5132328271865845
+    ],
+    "initial_fingers": [
+      0.3722880482673645,
+      0.3252120316028595,
+      0.2924194037914276,
+      0.2717733085155487,
+      0.0,
+      -0.11838806420564651,
+      0.03306278586387634,
+      -0.02068057283759117,
+      -0.028483089059591293,
+      0.28693199157714844,
+      0.21885353326797485,
+      0.21656784415245056,
+      0.27742472290992737,
+      0.43727147579193115,
+      -0.05911123752593994,
+      0.049904655665159225,
+      0.1401318460702896,
+      0.11370933800935745,
+      0.23404309153556824,
+      0.29466763138771057,
+      0.1523931622505188,
+      0.2051110863685608
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": -62.7737668598189
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.9919800489794564,
+      "entry": [
+        0.5233404036631084,
+        0.2924143841307922,
+        0.492699000575941
+      ],
+      "mid": [
+        0.49029375594208124,
+        0.07046257060972669,
+        0.532699000575941
+      ],
+      "offset_cmd": [
+        0.08725236272757803,
+        0.02685780583134245,
+        0.19028993358806087
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5992647151364676,
+        0.09036980771604408,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5627,
+      "style": 25627
+    },
+    {
+      "tick": 69,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 99,
+      "kind": "bread_lift",
+      "bottom_z": 0.023123053833842278,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 159,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.004473805392644265,
+      "tilt_deg": 6.369054863160677
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5885056257247925,
+      0.24605408310890198,
+      0.1698373556137085
+    ],
+    "toast_quat": [
+      0.5536258220672607,
+      0.4050541818141937,
+      -0.4227543771266937,
+      -0.5922062397003174
+    ],
+    "toast_vel": [
+      5.836467153130798e-06,
+      -4.418239996084594e-07,
+      -5.697765118384268e-06
+    ],
+    "toast_ang": [
+      7.722759619355202e-06,
+      0.0001504994579590857,
+      -3.844114871753845e-06
+    ],
+    "toast_aabb_lo": [
+      0.5655041933059692,
+      0.19422943890094757,
+      0.12157515436410904
+    ],
+    "toast_aabb_hi": [
+      0.6115071177482605,
+      0.2978787422180176,
+      0.21809954941272736
+    ],
+    "toast_in_toaster_frame": [
+      0.01177468616515398,
+      0.019953640177845955,
+      0.08313735574483871
+    ],
+    "toaster_pos": [
+      0.6077274680137634,
+      0.2331191748380661,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7277293801307678,
+      0.0,
+      0.0,
+      0.6858643889427185
+    ],
+    "lever_q": [
+      -0.06680084019899368
+    ],
+    "lever_frac": [
+      0.824701726436615
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.10861869156360626,
+      -0.021879537031054497,
+      -0.3356285095214844,
+      0.9799250364303589,
+      0.09094839543104172,
+      0.049622584134340286,
+      0.17033162713050842,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.35159069299697876,
+      0.0,
+      -0.2199999988079071,
+      0.03431760519742966,
+      -0.01722331903874874,
+      -0.02315930463373661,
+      0.317280113697052,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3892323970794678,
+      -0.025832777842879295,
+      0.053453851491212845,
+      0.30000001192092896,
+      0.25,
+      0.22738443315029144,
+      0.35108432173728943,
+      1.100000023841858,
+      0.11835041642189026
+    ],
+    "last_action": [
+      0.10861869156360626,
+      -0.021879537031054497,
+      -0.3317578136920929,
+      0.9799250364303589,
+      0.09094839543104172,
+      0.049622584134340286,
+      0.17033162713050842,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.35159069299697876,
+      0.0,
+      -0.2199999988079071,
+      0.03431760519742966,
+      -0.01722331903874874,
+      -0.02315930463373661,
+      0.317280113697052,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3892323970794678,
+      -0.025832777842879295,
+      0.053453851491212845,
+      0.30000001192092896,
+      0.25,
+      0.22738443315029144,
+      0.35108432173728943,
+      1.100000023841858,
+      0.11835041642189026
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 328,
+    "seconds": 16.4,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.2588235106929577,
+    "command_speed_max_m_s": 0.3913259645900706,
+    "command_acceleration_p95_m_s2": 0.5912549705591585,
+    "command_jerk_p95_m_s3": 2.2771390414009702,
+    "finger_range_rad": [
+      1.07744699716568,
+      0.4790038391947746,
+      1.1572726666927338,
+      1.177913248538971,
+      0.0,
+      0.23065054416656494,
+      0.3159531205892563,
+      0.22062186151742935,
+      0.22842230089008808,
+      1.162758618593216,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1222765743732452,
+      1.0107675790786743,
+      0.25904230028390884,
+      0.29094373062253,
+      1.2558795660734177,
+      0.8860548511147499,
+      0.7726155668497086,
+      1.1050382554531097,
+      0.9473986327648163,
+      0.8816495835781097
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.26455381327403993,
+        "mean_palm_x": -0.3457712339276006
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3010324362023225,
+        "mean_palm_x": -0.4889060942816407
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3033330153007445,
+        "mean_palm_x": -0.48445763137748504
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2588235106929577,
+        "mean_palm_x": -0.3142566212112243
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.26098798370825504,
+        "mean_palm_x": -0.1883090896265664
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2609853217051152,
+        "mean_palm_x": -0.18696366832527117
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3624088375525124,
+        "mean_palm_x": -0.04367005874660085
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8818850399691566,
+        "mean_palm_x": 0.00416459522893107
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 23,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 23
+  }
+}

meta/controller_episodes/episode_000024.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25628,
+  "scene_seed": 5628,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 333,
+  "recorded": true,
+  "first_success_tick": 333,
+  "post_success_error": null,
+  "command_hash": "5c6b0c1146a01919da2cb2bf5e59fe0f1170994d46a6955b27af15e4371eb286",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5628,
+    "style": 25628,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5228282207583923,
+      "width": 0.04124528868092846,
+      "minimum_speed_fraction": 0.03357762478728819
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.023931086700062304,
+      0.04386420175191347,
+      0.00647689266694397
+    ],
+    "initial_wrist_xyz_deg": [
+      -7.140774860015359,
+      -2.1220004217010704,
+      -10.142940771017937
+    ],
+    "initial_position": [
+      0.40093109011650085,
+      0.04386420175433159,
+      0.5267768502235413
+    ],
+    "initial_fingers": [
+      0.641886830329895,
+      0.27456769347190857,
+      0.3526209592819214,
+      0.35035794973373413,
+      0.0,
+      -0.11620521545410156,
+      0.007161842193454504,
+      0.007866884581744671,
+      -0.021161742508411407,
+      0.32681331038475037,
+      0.2296982705593109,
+      0.2432997226715088,
+      0.34821149706840515,
+      0.2662074565887451,
+      -0.03653454780578613,
+      0.02769962139427662,
+      0.17360427975654602,
+      0.1528625786304474,
+      0.19803689420223236,
+      0.3836624026298523,
+      0.13360457122325897,
+      0.2175101339817047
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -55.76590916684338
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.12280430720788,
+      "entry": [
+        0.49039130311086954,
+        0.2936476591669452,
+        0.4894360227092943
+      ],
+      "mid": [
+        0.45911153605021626,
+        0.06153550612146316,
+        0.5294360227092944
+      ],
+      "offset_cmd": [
+        0.08180810692137228,
+        0.028409018474049044,
+        0.1948836965801766
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5771518114660139,
+        0.0867577444304441,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5628,
+      "style": 25628
+    },
+    {
+      "tick": 71,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 101,
+      "kind": "bread_lift",
+      "bottom_z": 0.023162811994552612,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 163,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0080672601809029,
+      "tilt_deg": 6.170645922167688
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.567477822303772,
+      0.2403440773487091,
+      0.17211034893989563
+    ],
+    "toast_quat": [
+      0.7756650447845459,
+      -0.04317283630371094,
+      -0.6273001432418823,
+      -0.05453760549426079
+    ],
+    "toast_vel": [
+      7.822533916623797e-06,
+      -2.1106741314724786e-06,
+      -1.3840908650308847e-06
+    ],
+    "toast_ang": [
+      -7.82093484303914e-05,
+      0.0002216795546701178,
+      -3.238790304749273e-05
+    ],
+    "toast_aabb_lo": [
+      0.5451887845993042,
+      0.19114983081817627,
+      0.12159189581871033
+    ],
+    "toast_aabb_hi": [
+      0.5897669196128845,
+      0.28953832387924194,
+      0.22262880206108093
+    ],
+    "toast_in_toaster_frame": [
+      0.009432133287191391,
+      0.021137477830052376,
+      0.08541034907102585
+    ],
+    "toaster_pos": [
+      0.5878503918647766,
+      0.22935697436332703,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7330809235572815,
+      0.0,
+      0.0,
+      0.6801414489746094
+    ],
+    "lever_q": [
+      -0.06715087592601776
+    ],
+    "lever_frac": [
+      0.8290231823921204
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.02261100895702839,
+      -0.07284912467002869,
+      -0.35292932391166687,
+      0.9434924125671387,
+      0.052807778120040894,
+      0.037810977548360825,
+      0.3249673545360565,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.29434651136398315,
+      0.0,
+      -0.2199999988079071,
+      0.0019038824830204248,
+      -0.024562552571296692,
+      -0.03080495074391365,
+      0.3181825876235962,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.32719433307647705,
+      -0.06458733975887299,
+      0.07266777753829956,
+      0.30000001192092896,
+      0.25,
+      0.1203254759311676,
+      0.31873172521591187,
+      1.100000023841858,
+      0.12318730354309082
+    ],
+    "last_action": [
+      0.02261100895702839,
+      -0.07284912467002869,
+      -0.3491523563861847,
+      0.9434924125671387,
+      0.052807778120040894,
+      0.037810977548360825,
+      0.3249673545360565,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.29434651136398315,
+      0.0,
+      -0.2199999988079071,
+      0.0019038824830204248,
+      -0.024562552571296692,
+      -0.03080495074391365,
+      0.3181825876235962,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.32719433307647705,
+      -0.06458733975887299,
+      0.07266777753829956,
+      0.30000001192092896,
+      0.25,
+      0.1203254759311676,
+      0.31873172521591187,
+      1.100000023841858,
+      0.12318730354309082
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 333,
+    "seconds": 16.65,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.2967000316953138,
+    "command_speed_max_m_s": 0.3888302779294876,
+    "command_acceleration_p95_m_s2": 0.5613913062273865,
+    "command_jerk_p95_m_s3": 2.260103464973879,
+    "finger_range_rad": [
+      0.8079567551612854,
+      0.4790038391947746,
+      1.1000000536441803,
+      1.1556535363197327,
+      0.0,
+      0.23284462839365005,
+      0.3471961112227291,
+      0.22456255555152893,
+      0.2308049537241459,
+      1.1318174600601196,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0515619814395905,
+      1.1335483491420746,
+      0.2645873427391052,
+      0.3131521921604872,
+      1.2224693447351456,
+      0.8469549864530563,
+      0.8796745240688324,
+      1.0812682509422302,
+      0.9662228673696518,
+      0.8768126964569092
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.37940025242639697,
+        "mean_palm_x": -0.38236258826930813
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3813360332199409,
+        "mean_palm_x": -0.5549591031060697
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.36656295373486697,
+        "mean_palm_x": -0.5370420828472292
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.1,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2982778791062345,
+        "mean_palm_x": -0.3206449982342884
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2967020611754295,
+        "mean_palm_x": -0.15800527529687242
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2967000316953138,
+        "mean_palm_x": -0.15695782299584532
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3978379229700473,
+        "mean_palm_x": -0.031388655945008434
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8848086767116666,
+        "mean_palm_x": 0.004276293015685323
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 24,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 24
+  }
+}

meta/controller_episodes/episode_000025.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25629,
+  "scene_seed": 5629,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 323,
+  "recorded": true,
+  "first_success_tick": 323,
+  "post_success_error": null,
+  "command_hash": "bbf7e8fd7ccf1b9863c6fa8580027a2c16e07a0001301c3a261ab3ea612c7bab",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5629,
+    "style": 25629,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5191753263996838,
+      "width": 0.026287033142309103,
+      "minimum_speed_fraction": 0.0290887903404981
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.006249045168321157,
+      0.011145204435644138,
+      -0.03825117566760235
+    ],
+    "initial_wrist_xyz_deg": [
+      3.7295071663346095,
+      8.577597016174817,
+      -0.6834505920460217
+    ],
+    "initial_position": [
+      0.38324904441833496,
+      0.011145204305648804,
+      0.48204880952835083
+    ],
+    "initial_fingers": [
+      0.3994649052619934,
+      0.25427085161209106,
+      0.3577814996242523,
+      0.28838738799095154,
+      0.0,
+      -0.10571655631065369,
+      0.03480495139956474,
+      0.009919146075844765,
+      -0.02428433485329151,
+      0.2889328598976135,
+      0.19821521639823914,
+      0.3414537012577057,
+      0.2480706125497818,
+      0.3169877529144287,
+      -0.07479657232761383,
+      0.04771900922060013,
+      0.17299862205982208,
+      0.11639992147684097,
+      0.16154955327510834,
+      0.35285064578056335,
+      0.11642631888389587,
+      0.19784590601921082
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -41.32952561462419
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.826415436092009,
+      "entry": [
+        0.5192932459486472,
+        0.2710646449637023,
+        0.49725917167955347
+      ],
+      "mid": [
+        0.4629513160771602,
+        0.06670809830782848,
+        0.5372591716795535
+      ],
+      "offset_cmd": [
+        0.08452088210459703,
+        0.034640470593739286,
+        0.19382529891343475
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.6222163117076066,
+        0.08220482148457514,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5629,
+      "style": 25629
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.02180873230099678,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 153,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0117720460442424,
+      "tilt_deg": 5.665826373863267
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5873557329177856,
+      0.2320811152458191,
+      0.17147819697856903
+    ],
+    "toast_quat": [
+      0.8038903474807739,
+      0.031861312687397,
+      -0.5924385190010071,
+      0.04197349771857262
+    ],
+    "toast_vel": [
+      6.0680113165290095e-06,
+      6.022950742590183e-07,
+      -5.460445663629798e-06
+    ],
+    "toast_ang": [
+      -1.5377405361505225e-05,
+      0.0001433563738828525,
+      -1.023544314193714e-06
+    ],
+    "toast_aabb_lo": [
+      0.5628489255905151,
+      0.18115073442459106,
+      0.12157809734344482
+    ],
+    "toast_aabb_hi": [
+      0.6118625998497009,
+      0.2830114960670471,
+      0.22137829661369324
+    ],
+    "toast_in_toaster_frame": [
+      0.009672611951828003,
+      0.019215527921915054,
+      0.08477819710969925
+    ],
+    "toaster_pos": [
+      0.607466459274292,
+      0.22444209456443787,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.6696469783782959,
+      0.0,
+      0.0,
+      0.7426795363426208
+    ],
+    "lever_q": [
+      -0.06859984993934631
+    ],
+    "lever_frac": [
+      0.8469117283821106
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.0837894082069397,
+      -0.04157618060708046,
+      -0.3082326054573059,
+      0.9662137627601624,
+      -0.012923520058393478,
+      -0.08045243471860886,
+      0.24452261626720428,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.25755634903907776,
+      0.0,
+      -0.2199999988079071,
+      0.04289092868566513,
+      0.017742889001965523,
+      -0.007845300249755383,
+      0.3021186888217926,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.33596813678741455,
+      -0.027463266626000404,
+      0.06683744490146637,
+      0.30000001192092896,
+      0.25,
+      0.15479706227779388,
+      0.398953378200531,
+      1.100000023841858,
+      0.2060895711183548
+    ],
+    "last_action": [
+      0.0837894082069397,
+      -0.04157618060708046,
+      -0.30445563793182373,
+      0.9662137627601624,
+      -0.012923520058393478,
+      -0.08045243471860886,
+      0.24452261626720428,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.25755634903907776,
+      0.0,
+      -0.2199999988079071,
+      0.04289092868566513,
+      0.017742889001965523,
+      -0.007845300249755383,
+      0.3021186888217926,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.33596813678741455,
+      -0.027463266626000404,
+      0.06683744490146637,
+      0.30000001192092896,
+      0.25,
+      0.15479706227779388,
+      0.398953378200531,
+      1.100000023841858,
+      0.2060895711183548
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 323,
+    "seconds": 16.15,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.315854636912526,
+    "command_speed_max_m_s": 0.37629983061042555,
+    "command_acceleration_p95_m_s2": 0.6258470555708452,
+    "command_jerk_p95_m_s3": 2.46110093082432,
+    "finger_range_rad": [
+      1.0501939952373505,
+      0.4790038391947746,
+      1.1000000536441803,
+      1.192443698644638,
+      0.0,
+      0.24329774081707,
+      0.31418437883257866,
+      0.19001392927020788,
+      0.2242053672671318,
+      1.1606583893299103,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.151523768901825,
+      1.0826309025287628,
+      0.2746998220682144,
+      0.29311468452215195,
+      1.2229310721158981,
+      0.8832889646291733,
+      0.8452029377222061,
+      1.0467806160449982,
+      0.9832854717969894,
+      0.801871657371521
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4847512532100517,
+        "mean_palm_x": -0.5156813497178322
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5092677596482941,
+        "mean_palm_x": -0.6577956096667982
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4713538155109852,
+        "mean_palm_x": -0.664869690287593
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.315854636912526,
+        "mean_palm_x": -0.4861615201465468
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3161510728699245,
+        "mean_palm_x": -0.3565196002559203
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.31646550106974536,
+        "mean_palm_x": -0.3539442844245571
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.41017836101059013,
+        "mean_palm_x": -0.07828039156861875
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8775294750487356,
+        "mean_palm_x": 0.0003309229456873334
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 25,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 25
+  }
+}

meta/controller_episodes/episode_000026.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25630,
+  "scene_seed": 5630,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 335,
+  "recorded": true,
+  "first_success_tick": 335,
+  "post_success_error": null,
+  "command_hash": "d70b9ffc2a25daab3fc31fc87605524f86162b9021f8c05ca6fe6a1417f9acc3",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5630,
+    "style": 25630,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5626503964527299,
+      "width": 0.025051702982745328,
+      "minimum_speed_fraction": 0.03040464531070005
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.0250904076562799,
+      0.021802490125584592,
+      0.03659329344299915
+    ],
+    "initial_wrist_xyz_deg": [
+      -8.514681770904776,
+      10.380288204326561,
+      -9.559827185295028
+    ],
+    "initial_position": [
+      0.4020904004573822,
+      0.021802490577101707,
+      0.5568932890892029
+    ],
+    "initial_fingers": [
+      0.5070337057113647,
+      0.2541727125644684,
+      0.26350992918014526,
+      0.2591090798377991,
+      0.0,
+      -0.04752118140459061,
+      0.038094788789749146,
+      0.00981222279369831,
+      -0.02142173796892166,
+      0.37198421359062195,
+      0.20648184418678284,
+      0.3411359488964081,
+      0.3045065402984619,
+      0.37362372875213623,
+      -0.030739666894078255,
+      0.04236919432878494,
+      0.14899438619613647,
+      0.20391716063022614,
+      0.09497751295566559,
+      0.3686619699001312,
+      0.19421447813510895,
+      0.23607254028320312
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": -8.650346238682852
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.140853204753281,
+      "entry": [
+        0.48056684478969675,
+        0.2816043145740029,
+        0.47607468178183254
+      ],
+      "mid": [
+        0.4525179790698056,
+        0.0477161902827023,
+        0.5160746817818326
+      ],
+      "offset_cmd": [
+        0.09283292474930917,
+        0.01814626879052153,
+        0.1860501847102242
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.580444902216067,
+        0.06725933895820041,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5630,
+      "style": 25630
+    },
+    {
+      "tick": 73,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 103,
+      "kind": "bread_lift",
+      "bottom_z": 0.02707035094499588,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 166,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.001639556203530143,
+      "tilt_deg": 4.863427855359105
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5718272924423218,
+      0.2162388265132904,
+      0.17067521810531616
+    ],
+    "toast_quat": [
+      0.508668065071106,
+      0.4231902062892914,
+      -0.47260433435440063,
+      -0.5820755958557129
+    ],
+    "toast_vel": [
+      9.283575309382286e-06,
+      -1.6473661617055768e-06,
+      -4.0954760152089875e-06
+    ],
+    "toast_ang": [
+      -3.325631041661836e-05,
+      0.00024160662724170834,
+      -1.582821823831182e-05
+    ],
+    "toast_aabb_lo": [
+      0.5512740612030029,
+      0.1640404909849167,
+      0.12159000337123871
+    ],
+    "toast_aabb_hi": [
+      0.5923805236816406,
+      0.2684371769428253,
+      0.21976041793823242
+    ],
+    "toast_in_toaster_frame": [
+      0.004823867231607437,
+      0.020426830276846886,
+      0.08397521823644638
+    ],
+    "toaster_pos": [
+      0.5918062925338745,
+      0.20980729162693024,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7346599102020264,
+      0.0,
+      0.0,
+      0.6784356236457825
+    ],
+    "lever_q": [
+      -0.06555651873350143
+    ],
+    "lever_frac": [
+      0.8093397617340088
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.024254024028778076,
+      -0.0693444088101387,
+      -0.3792724609375,
+      0.9381167888641357,
+      0.09903784841299057,
+      -0.061607759445905685,
+      0.32608720660209656,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.25248709321022034,
+      0.0,
+      -0.2199999988079071,
+      0.014405989088118076,
+      -0.007405300624668598,
+      -0.024171477183699608,
+      0.3814516067504883,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3453943729400635,
+      -0.030412599444389343,
+      0.060993459075689316,
+      0.30000001192092896,
+      0.25,
+      0.2397124171257019,
+      0.3968803286552429,
+      1.100000023841858,
+      0.16354385018348694
+    ],
+    "last_action": [
+      0.024254024028778076,
+      -0.0693444088101387,
+      -0.3754017651081085,
+      0.9381167888641357,
+      0.09903784841299057,
+      -0.061607759445905685,
+      0.32608720660209656,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.25248709321022034,
+      0.0,
+      -0.2199999988079071,
+      0.014405989088118076,
+      -0.007405300624668598,
+      -0.024171477183699608,
+      0.3814516067504883,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3453943729400635,
+      -0.030412599444389343,
+      0.060993459075689316,
+      0.30000001192092896,
+      0.25,
+      0.2397124171257019,
+      0.3968803286552429,
+      1.100000023841858,
+      0.16354385018348694
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 335,
+    "seconds": 16.75,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.40221251115495016,
+    "command_speed_max_m_s": 0.3917999805568863,
+    "command_acceleration_p95_m_s2": 0.5422210418370523,
+    "command_jerk_p95_m_s3": 2.2538696783398833,
+    "finger_range_rad": [
+      0.9428091645240784,
+      0.4790038391947746,
+      1.1862735748291016,
+      1.1975129544734955,
+      0.0,
+      0.30152377486228943,
+      0.33469400461763144,
+      0.20740530360490084,
+      0.22417148016393185,
+      1.0778191089630127,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0952935218811035,
+      1.0546056032180786,
+      0.23069755919277668,
+      0.29849134385585785,
+      1.247109279036522,
+      0.7959375530481339,
+      0.9048573225736618,
+      1.0311497747898102,
+      0.9056503474712372,
+      0.8364561498165131
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 3.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6010496903569598,
+        "mean_palm_x": -0.6121658453541428
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6627511051294431,
+        "mean_palm_x": -0.7453523951800363
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6423342749178587,
+        "mean_palm_x": -0.748314730376201
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.15,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.40221251115495016,
+        "mean_palm_x": -0.3516433160630106
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.40225052873035017,
+        "mean_palm_x": -0.06640943528772816
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4022523650666251,
+        "mean_palm_x": -0.06584033784144498
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4900632859038966,
+        "mean_palm_x": -0.019518659844547575
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8828552899992579,
+        "mean_palm_x": 9.744271786471526e-05
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 26,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 26
+  }
+}

meta/controller_episodes/episode_000027.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25631,
+  "scene_seed": 5631,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 332,
+  "recorded": true,
+  "first_success_tick": 332,
+  "post_success_error": null,
+  "command_hash": "9386c25c7667f5fb33a9e1c415265287dfaaf37288128c0a696ee81bb8af7b5c",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5631,
+    "style": 25631,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5488896267421233,
+      "width": 0.03981702265789857,
+      "minimum_speed_fraction": 0.07904445254536142
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.02330383819774905,
+      0.015062949717499982,
+      -0.010266242079572552
+    ],
+    "initial_wrist_xyz_deg": [
+      11.469593858983474,
+      0.5937671013264971,
+      -5.94035622371825
+    ],
+    "initial_position": [
+      0.35369616746902466,
+      0.015062949620187283,
+      0.5100337266921997
+    ],
+    "initial_fingers": [
+      0.6202557682991028,
+      0.28837525844573975,
+      0.2481483668088913,
+      0.24454407393932343,
+      0.0,
+      -0.07374973595142365,
+      0.04340509697794914,
+      0.009005713276565075,
+      -0.0020419114734977484,
+      0.2620996832847595,
+      0.17492832243442535,
+      0.3868170976638794,
+      0.41856080293655396,
+      0.33024564385414124,
+      -0.051346518099308014,
+      0.032562147825956345,
+      0.15672452747821808,
+      0.20852862298488617,
+      0.16394062340259552,
+      0.29985976219177246,
+      0.08582422137260437,
+      0.16419893503189087
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 0,
+      "heading_deg": -32.20797530809232
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.130180463773697,
+      "entry": [
+        0.5238774776930107,
+        0.2785421077589698,
+        0.4928802373291238
+      ],
+      "mid": [
+        0.4774224937197811,
+        0.0484207229902599,
+        0.5328802373291238
+      ],
+      "offset_cmd": [
+        0.08858089671361077,
+        0.026123081045142608,
+        0.19084448575395907
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.6306286682386382,
+        0.088804730232946,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5631,
+      "style": 25631
+    },
+    {
+      "tick": 70,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 100,
+      "kind": "bread_lift",
+      "bottom_z": 0.022558046504855156,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 163,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.002834384140355784,
+      "tilt_deg": 3.742459426433759
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5972096920013428,
+      0.23592276871204376,
+      0.17046985030174255
+    ],
+    "toast_quat": [
+      0.5486443042755127,
+      -0.4166851043701172,
+      -0.45706403255462646,
+      0.5625436902046204
+    ],
+    "toast_vel": [
+      9.657717782829423e-06,
+      8.052415978454519e-08,
+      -5.441935627459316e-06
+    ],
+    "toast_ang": [
+      -7.095865294104442e-05,
+      0.0002470239414833486,
+      -2.1916271180089097e-06
+    ],
+    "toast_aabb_lo": [
+      0.5775986313819885,
+      0.1844940483570099,
+      0.12158627808094025
+    ],
+    "toast_aabb_hi": [
+      0.6168206930160522,
+      0.28735148906707764,
+      0.21935343742370605
+    ],
+    "toast_in_toaster_frame": [
+      0.006511658430099487,
+      0.020169531926512718,
+      0.08376985043287277
+    ],
+    "toaster_pos": [
+      0.6178794503211975,
+      0.23123526573181152,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.6748498678207397,
+      0.0,
+      0.0,
+      0.7379550933837891
+    ],
+    "lever_q": [
+      -0.06673594564199448
+    ],
+    "lever_frac": [
+      0.823900580406189
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.12293194979429245,
+      -0.041253313422203064,
+      -0.3324117362499237,
+      0.9518082141876221,
+      -0.09406678378582001,
+      -0.03409590199589729,
+      0.2899138927459717,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3752121031284332,
+      0.0,
+      -0.2199999988079071,
+      0.011837891303002834,
+      0.009325450286269188,
+      -0.0035255788825452328,
+      0.2600013315677643,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.25401538610458374,
+      -0.04640313610434532,
+      0.0437488816678524,
+      0.30000001192092896,
+      0.25,
+      0.1804831176996231,
+      0.4471997916698456,
+      1.100000023841858,
+      0.14742635190486908
+    ],
+    "last_action": [
+      0.12293194979429245,
+      -0.041253313422203064,
+      -0.3285410404205322,
+      0.9518082141876221,
+      -0.09406678378582001,
+      -0.03409590199589729,
+      0.2899138927459717,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3752121031284332,
+      0.0,
+      -0.2199999988079071,
+      0.011837891303002834,
+      0.009325450286269188,
+      -0.0035255788825452328,
+      0.2600013315677643,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.25401538610458374,
+      -0.04640313610434532,
+      0.0437488816678524,
+      0.30000001192092896,
+      0.25,
+      0.1804831176996231,
+      0.4471997916698456,
+      1.100000023841858,
+      0.14742635190486908
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 332,
+    "seconds": 16.6,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.38809445986504204,
+    "command_speed_max_m_s": 0.3714080423165482,
+    "command_acceleration_p95_m_s2": 0.5585947626519483,
+    "command_jerk_p95_m_s3": 2.2424583344368108,
+    "finger_range_rad": [
+      0.8295594453811646,
+      0.4790038391947746,
+      1.201554760336876,
+      1.2051581591367722,
+      0.0,
+      0.27528223395347595,
+      0.3372621024027467,
+      0.1909471033141017,
+      0.20352558186277747,
+      1.1899987161159515,
+      1.4726269915699959,
+      0.7218103408813477,
+      0.9811967015266418,
+      1.1459845900535583,
+      0.2512844242155552,
+      0.30828503146767616,
+      1.2393116056919098,
+      0.7912758439779282,
+      0.8358528167009354,
+      1.0998684167861938,
+      1.0139660015702248,
+      0.8525736480951309
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.9,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5797047672728449,
+        "mean_palm_x": -0.5026336181103729
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5723193251484094,
+        "mean_palm_x": -0.7071042251810882
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5725113845871691,
+        "mean_palm_x": -0.6950316070400806
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.15,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.38859325297410835,
+        "mean_palm_x": -0.48734432918173737
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3880949025251518,
+        "mean_palm_x": -0.3288719412756436
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.38809445986504204,
+        "mean_palm_x": -0.3266301002771293
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4807244057558625,
+        "mean_palm_x": -0.09535981021255703
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8842641478141454,
+        "mean_palm_x": 0.0003349353212496964
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 27,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 27
+  }
+}

meta/controller_episodes/episode_000028.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25632,
+  "scene_seed": 5632,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 325,
+  "recorded": true,
+  "first_success_tick": 325,
+  "post_success_error": null,
+  "command_hash": "f216740bfab51b75690a3e71c41db69447021c257b44a10226adbf1c59b53459",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5632,
+    "style": 25632,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5747653114268164,
+      "width": 0.04117619635330268,
+      "minimum_speed_fraction": 0.0640829663724978
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.0249363611008415,
+      -0.034683396584431696,
+      0.033404544302004374
+    ],
+    "initial_wrist_xyz_deg": [
+      -5.867961653846605,
+      -7.195430615772286,
+      -5.297113980876187
+    ],
+    "initial_position": [
+      0.3520636558532715,
+      -0.03468339517712593,
+      0.5537045001983643
+    ],
+    "initial_fingers": [
+      0.42694181203842163,
+      0.33010125160217285,
+      0.2551265358924866,
+      0.235947847366333,
+      0.0,
+      -0.09039664268493652,
+      0.0029552564956247807,
+      0.0031133326701819897,
+      -0.0460955947637558,
+      0.27745792269706726,
+      0.2631969451904297,
+      0.2770248055458069,
+      0.2988649606704712,
+      0.35793110728263855,
+      -0.03338916599750519,
+      0.057189032435417175,
+      0.08378739655017853,
+      0.16965079307556152,
+      0.08815975487232208,
+      0.290523499250412,
+      0.10779425501823425,
+      0.11593660712242126
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 0,
+      "heading_deg": -9.817533598942276
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.784402008467442,
+      "entry": [
+        0.4641603349008889,
+        0.26926232793176774,
+        0.47605084323625335
+      ],
+      "mid": [
+        0.44435802689983106,
+        0.061373173784437796,
+        0.5160508432362534
+      ],
+      "offset_cmd": [
+        0.0924363319812526,
+        0.014093203539478592,
+        0.18731424686538084
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5749586723767098,
+        0.06083221997816346,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5632,
+      "style": 25632
+    },
+    {
+      "tick": 70,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 100,
+      "kind": "bread_lift",
+      "bottom_z": 0.026892390102148056,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 156,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.00511122735152773,
+      "tilt_deg": 6.973199112692592
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5619951486587524,
+      0.2138388454914093,
+      0.17024192214012146
+    ],
+    "toast_quat": [
+      0.58677077293396,
+      -0.4312540292739868,
+      -0.42367398738861084,
+      0.5387209057807922
+    ],
+    "toast_vel": [
+      7.4796139415411744e-06,
+      -1.918089083119412e-06,
+      -3.515204980431008e-06
+    ],
+    "toast_ang": [
+      -6.887438939884305e-05,
+      0.00023444918042514473,
+      -1.7058921002899297e-05
+    ],
+    "toast_aabb_lo": [
+      0.540993869304657,
+      0.16127170622348785,
+      0.12158282846212387
+    ],
+    "toast_aabb_hi": [
+      0.5829964876174927,
+      0.26640596985816956,
+      0.21890100836753845
+    ],
+    "toast_in_toaster_frame": [
+      0.0093296580016613,
+      0.019358612596988678,
+      0.08354192227125168
+    ],
+    "toaster_pos": [
+      0.580946147441864,
+      0.20370681583881378,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7217584252357483,
+      0.0,
+      0.0,
+      0.692145049571991
+    ],
+    "lever_q": [
+      -0.06708060204982758
+    ],
+    "lever_frac": [
+      0.8281555771827698
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.06905274093151093,
+      -0.0197842326015234,
+      -0.37608107924461365,
+      0.9558588266372681,
+      0.03098829835653305,
+      0.07467690855264664,
+      0.28248360753059387,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.28688347339630127,
+      0.0,
+      -0.2199999988079071,
+      0.0077939340844750404,
+      -0.0009799060644581914,
+      -0.013334576040506363,
+      0.3120068907737732,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.32794710993766785,
+      -0.025644345209002495,
+      0.05777108296751976,
+      0.30000001192092896,
+      0.25,
+      0.09642034024000168,
+      0.45928385853767395,
+      1.100000023841858,
+      0.1433703899383545
+    ],
+    "last_action": [
+      0.06905274093151093,
+      -0.0197842326015234,
+      -0.37221041321754456,
+      0.9558588266372681,
+      0.03098829835653305,
+      0.07467690855264664,
+      0.28248360753059387,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.28688347339630127,
+      0.0,
+      -0.2199999988079071,
+      0.0077939340844750404,
+      -0.0009799060644581914,
+      -0.013334576040506363,
+      0.3120068907737732,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.32794710993766785,
+      -0.025644345209002495,
+      0.05777108296751976,
+      0.30000001192092896,
+      0.25,
+      0.09642034024000168,
+      0.45928385853767395,
+      1.100000023841858,
+      0.1433703899383545
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 325,
+    "seconds": 16.25,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.4447041692010097,
+    "command_speed_max_m_s": 0.38052557390620706,
+    "command_acceleration_p95_m_s2": 0.6021497642442648,
+    "command_jerk_p95_m_s3": 2.439513121162121,
+    "finger_range_rad": [
+      1.0228196680545807,
+      0.4790038391947746,
+      1.1945706903934479,
+      1.2137445360422134,
+      0.0,
+      0.25863779336214066,
+      0.34605701616965234,
+      0.20097990904469043,
+      0.2460332326591015,
+      1.1722449660301208,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.100855976343155,
+      1.0720528662204742,
+      0.23333002254366875,
+      0.2836632467806339,
+      1.3122234493494034,
+      0.830138772726059,
+      0.9116091653704643,
+      1.1091953217983246,
+      0.9919961243867874,
+      0.8838393539190292
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.9,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.637079659422328,
+        "mean_palm_x": -0.5310852139033383
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6588658488995641,
+        "mean_palm_x": -0.7461550588215022
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.652470656772724,
+        "mean_palm_x": -0.7432603027399819
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4447041692010097,
+        "mean_palm_x": -0.3500353191697236
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.45021544158353793,
+        "mean_palm_x": -0.06771957017450496
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4502181901199639,
+        "mean_palm_x": -0.06715829014504049
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5363798569611498,
+        "mean_palm_x": -0.01763373730995876
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8843850461696768,
+        "mean_palm_x": 1.8493019392509802e-05
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 28,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 28
+  }
+}

meta/controller_episodes/episode_000029.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25633,
+  "scene_seed": 5633,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 333,
+  "recorded": true,
+  "first_success_tick": 333,
+  "post_success_error": null,
+  "command_hash": "8bc21456ec3b913ea2302f4d0f7911bfaeb9f6162823ea0e876d76b959496811",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5633,
+    "style": 25633,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5439924679090329,
+      "width": 0.044375165742328124,
+      "minimum_speed_fraction": 0.04819489528109076
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.029603297124899675,
+      -0.047410341721125064,
+      0.04045068916801982
+    ],
+    "initial_wrist_xyz_deg": [
+      -11.346886735535616,
+      7.10852769148287,
+      11.990667003874165
+    ],
+    "initial_position": [
+      0.34739670157432556,
+      -0.04741034284234047,
+      0.5607506632804871
+    ],
+    "initial_fingers": [
+      0.425079882144928,
+      0.31480249762535095,
+      0.30442509055137634,
+      0.3564068078994751,
+      0.0,
+      -0.15453703701496124,
+      0.004420158918946981,
+      0.00672958604991436,
+      -0.0035005388781428337,
+      0.27028268575668335,
+      0.2524937093257904,
+      0.36896029114723206,
+      0.2990018427371979,
+      0.3308453857898712,
+      -0.06555906683206558,
+      0.07483427971601486,
+      0.17803850769996643,
+      0.10095371305942535,
+      0.18868635594844818,
+      0.4003845453262329,
+      0.21650826930999756,
+      0.12629327178001404
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": -18.82480233676167
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.1714642138677016,
+      "entry": [
+        0.47945311134069957,
+        0.2692377363458859,
+        0.47393345402939047
+      ],
+      "mid": [
+        0.44511717292174596,
+        0.03386922651606733,
+        0.5139334540293905
+      ],
+      "offset_cmd": [
+        0.09012863028845561,
+        0.02318928309426592,
+        0.18450587878766136
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5957510853506914,
+        0.06438731241789966,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5633,
+      "style": 25633
+    },
+    {
+      "tick": 72,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 102,
+      "kind": "bread_lift",
+      "bottom_z": 0.029194407165050507,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 165,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.007545704828565052,
+      "tilt_deg": 4.1139987834374905
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5763640403747559,
+      0.2127099186182022,
+      0.1698027104139328
+    ],
+    "toast_quat": [
+      0.5694502592086792,
+      0.4145055115222931,
+      -0.4110185503959656,
+      -0.5787704586982727
+    ],
+    "toast_vel": [
+      9.169374607154168e-06,
+      -1.1361712495272513e-06,
+      -5.9457570387166925e-06
+    ],
+    "toast_ang": [
+      -6.099693200667389e-05,
+      0.000261360255535692,
+      -6.7070836848870385e-06
+    ],
+    "toast_aabb_lo": [
+      0.5551198720932007,
+      0.1617870330810547,
+      0.12158256024122238
+    ],
+    "toast_aabb_hi": [
+      0.5976082682609558,
+      0.26363280415534973,
+      0.21802286803722382
+    ],
+    "toast_in_toaster_frame": [
+      0.005273712798953056,
+      0.01975751295685768,
+      0.08310271054506302
+    ],
+    "toaster_pos": [
+      0.5961083173751831,
+      0.20738686621189117,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7079894542694092,
+      0.0,
+      0.0,
+      0.7062230110168457
+    ],
+    "lever_q": [
+      -0.06497471779584885
+    ],
+    "lever_frac": [
+      0.8021570444107056
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.09390474855899811,
+      -0.002317286329343915,
+      -0.37926504015922546,
+      0.9826571345329285,
+      0.10629748553037643,
+      -0.0473489873111248,
+      0.14437410235404968,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2816159427165985,
+      0.0,
+      -0.2199999988079071,
+      0.023474041372537613,
+      -0.016469238325953484,
+      -0.04684662073850632,
+      0.3418008089065552,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.28009748458862305,
+      -0.06486768275499344,
+      0.06208973377943039,
+      0.30000001192092896,
+      0.25,
+      0.21191614866256714,
+      0.37101614475250244,
+      1.100000023841858,
+      0.1646108478307724
+    ],
+    "last_action": [
+      0.09390474855899811,
+      -0.002317286329343915,
+      -0.37532657384872437,
+      0.9826571345329285,
+      0.10629748553037643,
+      -0.0473489873111248,
+      0.14437410235404968,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2816159427165985,
+      0.0,
+      -0.2199999988079071,
+      0.023474041372537613,
+      -0.016469238325953484,
+      -0.04684662073850632,
+      0.3418008089065552,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.28009748458862305,
+      -0.06486768275499344,
+      0.06208973377943039,
+      0.30000001192092896,
+      0.25,
+      0.21191614866256714,
+      0.37101614475250244,
+      1.100000023841858,
+      0.1646108478307724
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 333,
+    "seconds": 16.65,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.43033504982767923,
+    "command_speed_max_m_s": 0.380694440706769,
+    "command_acceleration_p95_m_s2": 0.5467057278709622,
+    "command_jerk_p95_m_s3": 2.1911117153395847,
+    "finger_range_rad": [
+      1.0247200727462769,
+      0.4790038391947746,
+      1.1453319489955902,
+      1.1683841049671173,
+      0.0,
+      0.1945216804742813,
+      0.3446067199110985,
+      0.21646924130618572,
+      0.24684662371873856,
+      1.179467111825943,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1007645726203918,
+      1.119902491569519,
+      0.2655027359724045,
+      0.27880171686410904,
+      1.2180394530296326,
+      0.8988555744290352,
+      0.8111415505409241,
+      1.0289838314056396,
+      0.8833393305540085,
+      0.8735213875770569
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 3.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5803376983748841,
+        "mean_palm_x": -0.6165966165507257
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6329953724223617,
+        "mean_palm_x": -0.7447384711912811
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6412094374254587,
+        "mean_palm_x": -0.7205995568434082
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.15,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.43033504982767923,
+        "mean_palm_x": -0.38778524121767843
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.43328261676502877,
+        "mean_palm_x": -0.11957594977579568
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.43603875083884835,
+        "mean_palm_x": -0.1186148940338515
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5224505963066608,
+        "mean_palm_x": -0.04674210136493589
+      },
+      "Press the lever down": {
+        "seconds": 0.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.88331028222544,
+        "mean_palm_x": -0.0011237964050583656
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 29,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 29
+  }
+}

meta/controller_episodes/episode_000030.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25634,
+  "scene_seed": 5634,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 341,
+  "recorded": true,
+  "first_success_tick": 341,
+  "post_success_error": null,
+  "command_hash": "4fd9c12c914e23bb3fbed2837e9f004261eea8e7289ecb9e5afff04faa5677bf",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5634,
+    "style": 25634,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.6645907153190269,
+      "width": 0.038550060023792874,
+      "minimum_speed_fraction": 0.06363989748852135
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.011580835326577318,
+      0.015347259779836572,
+      0.004915101075690674
+    ],
+    "initial_wrist_xyz_deg": [
+      -11.605396093297642,
+      -5.204721395339259,
+      1.5117687865734162
+    ],
+    "initial_position": [
+      0.3654187023639679,
+      0.015342258848249912,
+      0.5252154469490051
+    ],
+    "initial_fingers": [
+      0.5730819702148438,
+      0.19238385558128357,
+      0.2589350640773773,
+      0.2823893129825592,
+      8.654594818580108e-10,
+      -0.1404287964105606,
+      0.04441089555621147,
+      -0.018089432269334793,
+      -0.031108712777495384,
+      0.3671145737171173,
+      0.18300491571426392,
+      0.2670537829399109,
+      0.23546206951141357,
+      0.4357203543186188,
+      -0.04979482665657997,
+      0.05480361729860306,
+      0.08574248850345612,
+      0.22753293812274933,
+      0.19208747148513794,
+      0.2878490686416626,
+      0.11198917031288147,
+      0.15387988090515137
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 3,
+      "heading_deg": -20.600738102702493
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.4286667591855533,
+      "entry": [
+        0.4908330980765345,
+        0.3075375332227318,
+        0.47999358466307596
+      ],
+      "mid": [
+        0.450718116950369,
+        0.0535357333119198,
+        0.519993584663076
+      ],
+      "offset_cmd": [
+        0.09529160335680426,
+        0.024730716649920576,
+        0.19121466969649936
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.6015389665896175,
+        0.09662437679801947,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5634,
+      "style": 25634
+    },
+    {
+      "tick": 72,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 102,
+      "kind": "bread_lift",
+      "bottom_z": 0.018931733444333076,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 171,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.012609583808680911,
+      "tilt_deg": 5.974410743931057
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.582667350769043,
+      0.2577095031738281,
+      0.17193764448165894
+    ],
+    "toast_quat": [
+      0.01240953803062439,
+      0.7070262432098389,
+      -0.010712552815675735,
+      -0.7069972157478333
+    ],
+    "toast_vel": [
+      6.45310319669079e-06,
+      2.665726469786023e-06,
+      -1.2168645753263263e-06
+    ],
+    "toast_ang": [
+      -5.616873750113882e-05,
+      0.00013595380005426705,
+      -9.482311824626777e-09
+    ],
+    "toast_aabb_lo": [
+      0.5765455961227417,
+      0.20699891448020935,
+      0.12162087112665176
+    ],
+    "toast_aabb_hi": [
+      0.5887891054153442,
+      0.3084201216697693,
+      0.2222544252872467
+    ],
+    "toast_in_toaster_frame": [
+      0.016368960961699486,
+      0.030101342126727104,
+      0.08523764461278915
+    ],
+    "toaster_pos": [
+      0.6115490198135376,
+      0.23927359282970428,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.731437087059021,
+      0.0,
+      0.0,
+      0.6819089651107788
+    ],
+    "lever_q": [
+      -0.06647111475467682
+    ],
+    "lever_frac": [
+      0.8206310868263245
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.08247186988592148,
+      -0.03438729792833328,
+      -0.3513680398464203,
+      0.9684661030769348,
+      0.08796343207359314,
+      0.06710806488990784,
+      0.22323168814182281,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.32473334670066833,
+      0.0,
+      -0.2199999988079071,
+      0.0028793944511562586,
+      0.007871994748711586,
+      -0.013776118867099285,
+      0.3403015732765198,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.2613731324672699,
+      -0.044602472335100174,
+      0.037114858627319336,
+      0.30000001192092896,
+      0.25,
+      0.18047551810741425,
+      0.3346758484840393,
+      1.100000023841858,
+      0.10972031950950623
+    ],
+    "last_action": [
+      0.08247186988592148,
+      -0.03438729792833328,
+      -0.3475910425186157,
+      0.9684661030769348,
+      0.08796343207359314,
+      0.06710806488990784,
+      0.22323168814182281,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.32473334670066833,
+      0.0,
+      -0.2199999988079071,
+      0.0028793944511562586,
+      0.007871994748711586,
+      -0.013776118867099285,
+      0.3403015732765198,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.2613731324672699,
+      -0.044602472335100174,
+      0.037114858627319336,
+      0.30000001192092896,
+      0.25,
+      0.18047551810741425,
+      0.3346758484840393,
+      1.100000023841858,
+      0.10972031950950623
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 341,
+    "seconds": 17.05,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.40505765966531393,
+    "command_speed_max_m_s": 0.3929166225686762,
+    "command_acceleration_p95_m_s2": 0.5594594112554563,
+    "command_jerk_p95_m_s3": 2.1688889877164073,
+    "finger_range_rad": [
+      0.8767488598823547,
+      0.4790038391947746,
+      1.190811574459076,
+      1.1673623323440552,
+      8.652753513693767e-10,
+      0.20862680673599243,
+      0.34622059925459325,
+      0.21804303489625454,
+      0.23105954565107822,
+      1.109698474407196,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1642901450395584,
+      1.1386268436908722,
+      0.24974168464541435,
+      0.3037765920162201,
+      1.3103151693940163,
+      0.7723027169704437,
+      0.8195244818925858,
+      1.1119142770767212,
+      0.9878357425332069,
+      0.8902796804904938
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 3.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5703894565934283,
+        "mean_palm_x": -0.565979570086032
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6327334326065811,
+        "mean_palm_x": -0.7412690575102582
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6037518396285965,
+        "mean_palm_x": -0.7534979553697372
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.45,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.40505765966531393,
+        "mean_palm_x": -0.3462725594024675
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4060314539712724,
+        "mean_palm_x": -0.05770197096765914
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.40665170758114444,
+        "mean_palm_x": -0.05727412267322631
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4966924820121567,
+        "mean_palm_x": -0.05782583366773992
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8830756939228664,
+        "mean_palm_x": -7.499872845905042e-05
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 30,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 30
+  }
+}

meta/controller_episodes/episode_000031.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25636,
+  "scene_seed": 5636,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 324,
+  "recorded": true,
+  "first_success_tick": 324,
+  "post_success_error": null,
+  "command_hash": "777af9c7b7c27569b065b8e13421e412b1bf884df72e03b7b30c7ab47182e5ce",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5636,
+    "style": 25636,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.6658418225906866,
+      "width": 0.041464058511947066,
+      "minimum_speed_fraction": 0.08012555724824011
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.04567362125900463,
+      -0.0060589115579180244,
+      0.04795829041054389
+    ],
+    "initial_wrist_xyz_deg": [
+      9.329739222629968,
+      -4.564097861634818,
+      1.141408214922178
+    ],
+    "initial_position": [
+      0.3313256800174713,
+      -0.006075932644307613,
+      0.5682551860809326
+    ],
+    "initial_fingers": [
+      0.5703989863395691,
+      0.26933547854423523,
+      0.3544101119041443,
+      0.29345306754112244,
+      7.437918725372583e-08,
+      -0.0556940920650959,
+      0.03366424888372421,
+      -0.028954029083251953,
+      -0.0006644850946031511,
+      0.3486425578594208,
+      0.2596098482608795,
+      0.22765035927295685,
+      0.31653714179992676,
+      0.3349105715751648,
+      -0.057061322033405304,
+      0.07376262545585632,
+      0.14314256608486176,
+      0.2251226007938385,
+      0.10406064987182617,
+      0.3932192623615265,
+      0.08653699606657028,
+      0.08123438060283661
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": -19.248059699811954
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.766679478089308,
+      "entry": [
+        0.46296276323933283,
+        0.28679659449634426,
+        0.4761822235426593
+      ],
+      "mid": [
+        0.4368520611173852,
+        0.08094499748735365,
+        0.5161822235426593
+      ],
+      "offset_cmd": [
+        0.0924240581931199,
+        0.02071627562327394,
+        0.18696012226427464
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5931760428673056,
+        0.08684629873784103,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5636,
+      "style": 25636
+    },
+    {
+      "tick": 71,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 101,
+      "kind": "bread_lift",
+      "bottom_z": 0.025900140404701233,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 156,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0045197904430016415,
+      "tilt_deg": 4.339788033901307
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.563181459903717,
+      0.23109430074691772,
+      0.17076492309570312
+    ],
+    "toast_quat": [
+      0.5400721430778503,
+      0.46255427598953247,
+      -0.4510086178779602,
+      -0.5394040942192078
+    ],
+    "toast_vel": [
+      9.13741132535506e-06,
+      2.1957106355330325e-08,
+      -3.6601793453883147e-06
+    ],
+    "toast_ang": [
+      -5.58062492928002e-05,
+      0.00021148761152289808,
+      -6.799607035645749e-06
+    ],
+    "toast_aabb_lo": [
+      0.5486295223236084,
+      0.18028046190738678,
+      0.12159159779548645
+    ],
+    "toast_aabb_hi": [
+      0.5777333974838257,
+      0.2819081246852875,
+      0.2199382334947586
+    ],
+    "toast_in_toaster_frame": [
+      0.002895919606089592,
+      0.020531486719846725,
+      0.08406492322683334
+    ],
+    "toaster_pos": [
+      0.5838580131530762,
+      0.22954238951206207,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.6836808323860168,
+      0.0,
+      0.0,
+      0.7297811508178711
+    ],
+    "lever_q": [
+      -0.06563230603933334
+    ],
+    "lever_frac": [
+      0.8102753758430481
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.10789737850427628,
+      -0.02216474339365959,
+      -0.38676202297210693,
+      0.9679089188575745,
+      -0.08825796842575073,
+      0.019725775346159935,
+      0.23446480929851532,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.26813772320747375,
+      0.0,
+      -0.2199999988079071,
+      0.01061947736889124,
+      0.005285136867314577,
+      -0.021886160597205162,
+      0.3519451320171356,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3024313449859619,
+      -0.05719142407178879,
+      0.06719888001680374,
+      0.30000001192092896,
+      0.25,
+      0.18610697984695435,
+      0.39957910776138306,
+      1.100000023841858,
+      0.08257286250591278
+    ],
+    "last_action": [
+      0.10789737850427628,
+      -0.02216474339365959,
+      -0.38282352685928345,
+      0.9679089188575745,
+      -0.08825796842575073,
+      0.019725775346159935,
+      0.23446480929851532,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.26813772320747375,
+      0.0,
+      -0.2199999988079071,
+      0.01061947736889124,
+      0.005285136867314577,
+      -0.021886160597205162,
+      0.3519451320171356,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3024313449859619,
+      -0.05719142407178879,
+      0.06719888001680374,
+      0.30000001192092896,
+      0.25,
+      0.18610697984695435,
+      0.39957910776138306,
+      1.100000023841858,
+      0.08257286250591278
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 324,
+    "seconds": 16.2,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.48844034787205604,
+    "command_speed_max_m_s": 0.3736936133849334,
+    "command_acceleration_p95_m_s2": 0.5975552445908855,
+    "command_jerk_p95_m_s3": 2.412563990025527,
+    "finger_range_rad": [
+      0.8794266581535339,
+      0.4790038391947746,
+      1.1000000536441803,
+      1.181862324476242,
+      7.436293003593164e-08,
+      0.293341763317585,
+      0.3384805163368583,
+      0.2289039846509695,
+      0.2218861635774374,
+      1.1011167466640472,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0832259953022003,
+      1.0975686311721802,
+      0.257191427052021,
+      0.2736925706267357,
+      1.2529209852218628,
+      0.774708017706871,
+      0.8957435041666031,
+      1.0065606236457825,
+      1.0132775455713272,
+      0.9185647815465927
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6187370496994156,
+        "mean_palm_x": -0.5353204553282838
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6286899630254863,
+        "mean_palm_x": -0.744565608832931
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5870615785773812,
+        "mean_palm_x": -0.7532485632771571
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.75,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.48844034787205604,
+        "mean_palm_x": -0.41325228897031924
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4887690450082404,
+        "mean_palm_x": -0.16171862572940934
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4891672573585376,
+        "mean_palm_x": -0.16050226688963504
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.572209450318281,
+        "mean_palm_x": -0.044885692301927856
+      },
+      "Press the lever down": {
+        "seconds": 0.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8817915255573481,
+        "mean_palm_x": -0.0025014575290919945
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 31,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 31
+  }
+}

meta/controller_episodes/episode_000032.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25637,
+  "scene_seed": 5637,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 345,
+  "recorded": true,
+  "first_success_tick": 345,
+  "post_success_error": null,
+  "command_hash": "3f5fa9d38d955d05e35c5139136999aa106a31c5048dfc6deab4414775660c63",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5637,
+    "style": 25637,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.6396911388430702,
+      "width": 0.044031434067843794,
+      "minimum_speed_fraction": 0.07243842271199305
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.03751517325056002,
+      0.03500999492556471,
+      0.03389429125109482
+    ],
+    "initial_wrist_xyz_deg": [
+      10.54600369616854,
+      8.591160291892692,
+      -1.2503631392035075
+    ],
+    "initial_position": [
+      0.339484840631485,
+      0.035009995102882385,
+      0.5541942715644836
+    ],
+    "initial_fingers": [
+      0.5164377093315125,
+      0.2522628903388977,
+      0.2317887246608734,
+      0.2876778841018677,
+      0.0,
+      -0.14059051871299744,
+      0.003743789391592145,
+      0.011244958266615868,
+      -0.04150143638253212,
+      0.39867740869522095,
+      0.20535920560359955,
+      0.35096535086631775,
+      0.2594683766365051,
+      0.41225868463516235,
+      -0.03310159221291542,
+      0.07161522656679153,
+      0.15656770765781403,
+      0.2306152880191803,
+      0.1597171425819397,
+      0.424450159072876,
+      0.1540919989347458,
+      0.18597112596035004
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 3,
+      "heading_deg": 13.700667527037465
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.455949415313374,
+      "entry": [
+        0.4881139584874803,
+        0.28879213305605916,
+        0.4850934949574448
+      ],
+      "mid": [
+        0.4546860699105111,
+        0.031760521095461985,
+        0.5250934949574448
+      ],
+      "offset_cmd": [
+        0.0883062107112127,
+        0.01893220409503051,
+        0.18857597203629192
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5906401934469245,
+        0.08758711660659713,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5637,
+      "style": 25637
+    },
+    {
+      "tick": 77,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 107,
+      "kind": "bread_lift",
+      "bottom_z": 0.025479502975940704,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 176,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0028798543548322402,
+      "tilt_deg": 2.576749564307601
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5626979470252991,
+      0.24335770308971405,
+      0.17194288969039917
+    ],
+    "toast_quat": [
+      0.024136999621987343,
+      0.7071133852005005,
+      0.0010469612898305058,
+      -0.7066872119903564
+    ],
+    "toast_vel": [
+      -9.172583668259904e-05,
+      6.790571205783635e-05,
+      5.143836824572645e-05
+    ],
+    "toast_ang": [
+      -0.0014308952959254384,
+      -0.001933349878527224,
+      -3.039002294258353e-08
+    ],
+    "toast_aabb_lo": [
+      0.5548954010009766,
+      0.19248145818710327,
+      0.1216275542974472
+    ],
+    "toast_aabb_hi": [
+      0.5705004930496216,
+      0.29423394799232483,
+      0.22225822508335114
+    ],
+    "toast_in_toaster_frame": [
+      0.013236303813755512,
+      0.02520839311182499,
+      0.08524288982152939
+    ],
+    "toaster_pos": [
+      0.5881344079971313,
+      0.2305651605129242,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7008841037750244,
+      0.0,
+      0.0,
+      0.7132751941680908
+    ],
+    "lever_q": [
+      -0.06758899241685867
+    ],
+    "lever_frac": [
+      0.8344320058822632
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.09711141139268875,
+      -0.06233394891023636,
+      -0.37657275795936584,
+      0.96253502368927,
+      -0.06984144449234009,
+      -0.09530752897262573,
+      0.24405929446220398,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.35208770632743835,
+      0.0,
+      -0.2199999988079071,
+      0.012951474636793137,
+      -0.022219378501176834,
+      -0.017677688971161842,
+      0.3812195062637329,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3467382788658142,
+      -0.03822997957468033,
+      0.06361614167690277,
+      0.30000001192092896,
+      0.25,
+      0.1372857242822647,
+      0.39601054787635803,
+      1.100000023841858,
+      0.09286821633577347
+    ],
+    "last_action": [
+      0.09711141139268875,
+      -0.06233394891023636,
+      -0.37270206212997437,
+      0.96253502368927,
+      -0.06984144449234009,
+      -0.09530752897262573,
+      0.24405929446220398,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.35208770632743835,
+      0.0,
+      -0.2199999988079071,
+      0.012951474636793137,
+      -0.022219378501176834,
+      -0.017677688971161842,
+      0.3812195062637329,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3467382788658142,
+      -0.03822997957468033,
+      0.06361614167690277,
+      0.30000001192092896,
+      0.25,
+      0.1372857242822647,
+      0.39601054787635803,
+      1.100000023841858,
+      0.09286821633577347
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 345,
+    "seconds": 17.25,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.41452130218935695,
+    "command_speed_max_m_s": 0.378946806320763,
+    "command_acceleration_p95_m_s2": 0.501142699993701,
+    "command_jerk_p95_m_s3": 2.076397504317989,
+    "finger_range_rad": [
+      0.933444619178772,
+      0.4790038391947746,
+      1.2180429548025131,
+      1.1621615290641785,
+      0.0,
+      0.20848065614700317,
+      0.3453084744978696,
+      0.22221938148140907,
+      0.24146806448698044,
+      1.068780541419983,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1403739750385284,
+      1.0532616972923279,
+      0.23822998255491257,
+      0.27727530896663666,
+      1.2395846396684647,
+      0.7692783772945404,
+      0.8627142757177353,
+      1.003989428281784,
+      0.9458000957965851,
+      0.9071317836642265
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 3.25,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6001600558436091,
+        "mean_palm_x": -0.5297709749114438
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6552789363763576,
+        "mean_palm_x": -0.6627613947855867
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6570664002676672,
+        "mean_palm_x": -0.6459939216811342
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.45,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.41452130218935695,
+        "mean_palm_x": -0.4269597999026928
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4183250745923841,
+        "mean_palm_x": -0.25407985818976364
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4219561046379684,
+        "mean_palm_x": -0.25220441196449334
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5086917522195693,
+        "mean_palm_x": -0.07299291399428223
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8834985575840278,
+        "mean_palm_x": -0.0010747186087790572
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 32,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 32
+  }
+}

meta/controller_episodes/episode_000033.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25638,
+  "scene_seed": 5638,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 324,
+  "recorded": true,
+  "first_success_tick": 324,
+  "post_success_error": null,
+  "command_hash": "9c97f3282d3cad35dbc09720dc935c39f542712dca5a746c69919e90a4dc6a2d",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5638,
+    "style": 25638,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5750437093604205,
+      "width": 0.03461526607243129,
+      "minimum_speed_fraction": 0.03788517432340913
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.02785475953150478,
+      -0.044678331565478506,
+      -0.020726796667438454
+    ],
+    "initial_wrist_xyz_deg": [
+      -3.4221224219832056,
+      -1.795317394985519,
+      -4.493063976303806
+    ],
+    "initial_position": [
+      0.34914523363113403,
+      -0.04467809945344925,
+      0.4995731711387634
+    ],
+    "initial_fingers": [
+      0.4017738103866577,
+      0.27161452174186707,
+      0.27645012736320496,
+      0.3543323874473572,
+      -1.419765638388526e-09,
+      -0.07489735633134842,
+      0.04539348930120468,
+      -0.020449336618185043,
+      -0.018565909937024117,
+      0.33253052830696106,
+      0.3088202178478241,
+      0.3491269648075104,
+      0.26750439405441284,
+      0.40920490026474,
+      -0.043499190360307693,
+      0.04675489664077759,
+      0.08557114750146866,
+      0.10662484914064407,
+      0.16615739464759827,
+      0.38020360469818115,
+      0.22085487842559814,
+      0.19054889678955078
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 0,
+      "heading_deg": -20.985720947634583
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.8817589358346134,
+      "entry": [
+        0.47405864017964106,
+        0.2756480786785315,
+        0.4741723649285763
+      ],
+      "mid": [
+        0.44668138632059445,
+        0.06125709730311388,
+        0.5141723649285763
+      ],
+      "offset_cmd": [
+        0.08923841114936412,
+        0.015382471135476526,
+        0.18533297110732483
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5683724481336261,
+        0.06239144186734247,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5638,
+      "style": 25638
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.02961738407611847,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 154,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.00810920737222589,
+      "tilt_deg": 5.805555595437842
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5659571886062622,
+      0.21220482885837555,
+      0.17024335265159607
+    ],
+    "toast_quat": [
+      0.6026900410652161,
+      -0.44402381777763367,
+      -0.4105415940284729,
+      0.5206372737884521
+    ],
+    "toast_vel": [
+      7.701657523284666e-06,
+      -2.0179090824967716e-06,
+      -4.613081728166435e-06
+    ],
+    "toast_ang": [
+      -3.6586392525350675e-05,
+      0.00023865893308538944,
+      -1.571545726619661e-05
+    ],
+    "toast_aabb_lo": [
+      0.5423684120178223,
+      0.1588694155216217,
+      0.12158256769180298
+    ],
+    "toast_aabb_hi": [
+      0.5895460247993469,
+      0.2655402421951294,
+      0.21890413761138916
+    ],
+    "toast_in_toaster_frame": [
+      0.005624914541840553,
+      0.01898735575377941,
+      0.08354335278272629
+    ],
+    "toaster_pos": [
+      0.5842050313949585,
+      0.20451226830482483,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7452239394187927,
+      0.0,
+      0.0,
+      0.6668143272399902
+    ],
+    "lever_q": [
+      -0.06735064834356308
+    ],
+    "lever_frac": [
+      0.8314895033836365
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.06410782039165497,
+      -0.005687525030225515,
+      -0.32575473189353943,
+      0.9596518874168396,
+      0.024282336235046387,
+      0.023386627435684204,
+      0.27916237711906433,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3549434542655945,
+      0.0,
+      -0.2199999988079071,
+      0.04130532592535019,
+      0.0024305665865540504,
+      -0.03345991298556328,
+      0.28158360719680786,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3996022939682007,
+      -0.04511977359652519,
+      0.028648147359490395,
+      0.30000001192092896,
+      0.25,
+      0.1353307068347931,
+      0.32707351446151733,
+      1.100000023841858,
+      0.1832040548324585
+    ],
+    "last_action": [
+      0.06410782039165497,
+      -0.005687525030225515,
+      -0.32197776436805725,
+      0.9596518874168396,
+      0.024282336235046387,
+      0.023386627435684204,
+      0.27916237711906433,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3549434542655945,
+      0.0,
+      -0.2199999988079071,
+      0.04130532592535019,
+      0.0024305665865540504,
+      -0.03345991298556328,
+      0.28158360719680786,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3996022939682007,
+      -0.04511977359652519,
+      0.028648147359490395,
+      0.30000001192092896,
+      0.25,
+      0.1353307068347931,
+      0.32707351446151733,
+      1.100000023841858,
+      0.1832040548324585
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 324,
+    "seconds": 16.2,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.3989985421877962,
+    "command_speed_max_m_s": 0.3852911771799263,
+    "command_acceleration_p95_m_s2": 0.5953020209133132,
+    "command_jerk_p95_m_s3": 2.3980280825646725,
+    "finger_range_rad": [
+      1.047885924577713,
+      0.4790038391947746,
+      1.1731367111206055,
+      1.09528186917305,
+      0.0,
+      0.27410609275102615,
+      0.3077946677803993,
+      0.22037171944975853,
+      0.23345991596579552,
+      1.168416440486908,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1320968270301819,
+      1.0003976821899414,
+      0.24511977657675743,
+      0.31224330328404903,
+      1.3103277534246445,
+      0.8930605947971344,
+      0.8646692931652069,
+      1.0729264616966248,
+      0.8788936883211136,
+      0.8167959451675415
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5776121657302237,
+        "mean_palm_x": -0.5548878768386211
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.624973796229596,
+        "mean_palm_x": -0.7433560966421515
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6110619863849428,
+        "mean_palm_x": -0.7495318089658735
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.9,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3989985421877962,
+        "mean_palm_x": -0.3403779039241455
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4030021585596558,
+        "mean_palm_x": -0.047955018798413525
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.40300430309344215,
+        "mean_palm_x": -0.04757604140300178
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.49709933273311613,
+        "mean_palm_x": 0.005263398366818617
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8809707730922467,
+        "mean_palm_x": 0.0028449372910616957
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 33,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 33
+  }
+}

meta/controller_episodes/episode_000034.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25639,
+  "scene_seed": 5639,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 329,
+  "recorded": true,
+  "first_success_tick": 329,
+  "post_success_error": null,
+  "command_hash": "df8e15051fd92e54c0d65c20da0a99b486c09e652a649d55a9336c9eb868f018",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5639,
+    "style": 25639,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.4575370074719243,
+      "width": 0.04167463612007315,
+      "minimum_speed_fraction": 0.08888084041254107
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.021608257333122594,
+      -0.02322588532001322,
+      -0.03846738995078213
+    ],
+    "initial_wrist_xyz_deg": [
+      -2.933019011355995,
+      -9.730361894233143,
+      9.273566147629829
+    ],
+    "initial_position": [
+      0.3553917407989502,
+      -0.02322588488459587,
+      0.4818325936794281
+    ],
+    "initial_fingers": [
+      0.5721323490142822,
+      0.33332499861717224,
+      0.3262319564819336,
+      0.3122920095920563,
+      0.0,
+      -0.10485059767961502,
+      0.04478174075484276,
+      0.0021910355426371098,
+      -0.005336050875484943,
+      0.3412778377532959,
+      0.290216326713562,
+      0.29990899562835693,
+      0.2617904543876648,
+      0.32663464546203613,
+      -0.06211864575743675,
+      0.06673970073461533,
+      0.2252953052520752,
+      0.1913679987192154,
+      0.22682230174541473,
+      0.3743915259838104,
+      0.12331632524728775,
+      0.2176322191953659
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 3,
+      "heading_deg": 8.190493759289843
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.213427050670121,
+      "entry": [
+        0.52617914980581,
+        0.2876590652485825,
+        0.49198517955347987
+      ],
+      "mid": [
+        0.46910134705866674,
+        0.05350844627718812,
+        0.5319851795534799
+      ],
+      "offset_cmd": [
+        0.09505583754825016,
+        0.019826422012608463,
+        0.18762373018159928
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.606828845711374,
+        0.08608731495848362,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5639,
+      "style": 25639
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.021412638947367668,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 160,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.01060632808296638,
+      "tilt_deg": 8.254803506727834
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5825637578964233,
+      0.24129679799079895,
+      0.17194297909736633
+    ],
+    "toast_quat": [
+      -0.020198380574584007,
+      0.7057785987854004,
+      -0.04326726496219635,
+      -0.7068213224411011
+    ],
+    "toast_vel": [
+      -0.00016618342488072813,
+      1.0756482879514806e-05,
+      0.00010827088408404961
+    ],
+    "toast_ang": [
+      -0.0002266422234242782,
+      -0.0035023458767682314,
+      5.381026113582266e-08
+    ],
+    "toast_aabb_lo": [
+      0.5720415115356445,
+      0.1902683526277542,
+      0.1216277927160263
+    ],
+    "toast_aabb_hi": [
+      0.5930860042572021,
+      0.2923252284526825,
+      0.22225816547870636
+    ],
+    "toast_in_toaster_frame": [
+      0.010805485770106316,
+      0.03197892755270004,
+      0.08524297922849655
+    ],
+    "toaster_pos": [
+      0.6139637231826782,
+      0.2289092093706131,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7245323657989502,
+      0.0,
+      0.0,
+      0.6892408132553101
+    ],
+    "lever_q": [
+      -0.06679172813892365
+    ],
+    "lever_frac": [
+      0.8245892524719238
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.0963439866900444,
+      -0.003498215228319168,
+      -0.30423620343208313,
+      0.9831529855728149,
+      0.011366852559149265,
+      0.0878026932477951,
+      0.159911647439003,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2766878306865692,
+      0.0,
+      -0.2199999988079071,
+      0.04059435427188873,
+      -0.024108899757266045,
+      -0.042578913271427155,
+      0.35391542315483093,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.2660709619522095,
+      -0.07036960870027542,
+      0.044712770730257034,
+      0.30000001192092896,
+      0.25,
+      0.19830162823200226,
+      0.30426207184791565,
+      1.100000023841858,
+      0.10853017866611481
+    ],
+    "last_action": [
+      0.0963439866900444,
+      -0.003498215228319168,
+      -0.30036550760269165,
+      0.9831529855728149,
+      0.011366852559149265,
+      0.0878026932477951,
+      0.159911647439003,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2766878306865692,
+      0.0,
+      -0.2199999988079071,
+      0.04059435427188873,
+      -0.024108899757266045,
+      -0.042578913271427155,
+      0.35391542315483093,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.2660709619522095,
+      -0.07036960870027542,
+      0.044712770730257034,
+      0.30000001192092896,
+      0.25,
+      0.19830162823200226,
+      0.30426207184791565,
+      1.100000023841858,
+      0.10853017866611481
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 329,
+    "seconds": 16.45,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.3508464031806333,
+    "command_speed_max_m_s": 0.3898787066204751,
+    "command_acceleration_p95_m_s2": 0.5898765727055054,
+    "command_jerk_p95_m_s3": 2.333949796847023,
+    "finger_range_rad": [
+      0.8775873780250549,
+      0.4790038391947746,
+      1.1233724057674408,
+      1.1733122169971466,
+      0.0,
+      0.2441633939743042,
+      0.3085056394338608,
+      0.22410890273749828,
+      0.2425789162516594,
+      1.1083318293094635,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.13780876994133,
+      1.1339290142059326,
+      0.27036961168050766,
+      0.2961786799132824,
+      1.1706527918577194,
+      0.8083472847938538,
+      0.8016983717679977,
+      1.0957379043102264,
+      0.9763978943228722,
+      0.8914698213338852
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6363326392309812,
+        "mean_palm_x": -0.49012673872987694
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6662678137800964,
+        "mean_palm_x": -0.6945805594768313
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6445343949339889,
+        "mean_palm_x": -0.6978313725830526
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.2,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.35103033095812186,
+        "mean_palm_x": -0.425670249948716
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3508464031806333,
+        "mean_palm_x": -0.22983756063043426
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.35084721859803325,
+        "mean_palm_x": -0.22818090377875228
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4454548723165025,
+        "mean_palm_x": -0.06501617757998727
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8836901071159049,
+        "mean_palm_x": 0.0036605638419441614
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 34,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 34
+  }
+}

meta/controller_episodes/episode_000035.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25640,
+  "scene_seed": 5640,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 316,
+  "recorded": true,
+  "first_success_tick": 316,
+  "post_success_error": null,
+  "command_hash": "79b854d55c5a07b9ef8bcd429096204bf7f5fc13412ca77d4bad4fbfb5d8dca3",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5640,
+    "style": 25640,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.4945352107620776,
+      "width": 0.02948136137600499,
+      "minimum_speed_fraction": 0.07008055546337494
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.016978848546304007,
+      0.003518460898893974,
+      -0.047690213496918266
+    ],
+    "initial_wrist_xyz_deg": [
+      -6.027025935522757,
+      -10.195409732823023,
+      -1.5175838768371133
+    ],
+    "initial_position": [
+      0.36002039909362793,
+      0.003518416080623865,
+      0.4726102948188782
+    ],
+    "initial_fingers": [
+      0.559569239616394,
+      0.24026939272880554,
+      0.22336919605731964,
+      0.3131905198097229,
+      0.005533366929739714,
+      -0.08187778294086456,
+      0.0012193213915452361,
+      -0.013845948502421379,
+      -0.009924635291099548,
+      0.3285008370876312,
+      0.21311701834201813,
+      0.2171589881181717,
+      0.2448836863040924,
+      0.33708807826042175,
+      -0.07398203015327454,
+      0.02805211953818798,
+      0.12651605904102325,
+      0.21565327048301697,
+      0.11037596315145493,
+      0.2986847758293152,
+      0.20679229497909546,
+      0.07610569894313812
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": -48.08829637260627
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.5893510710972527,
+      "entry": [
+        0.4828788599384638,
+        0.2739387805176676,
+        0.486393591150616
+      ],
+      "mid": [
+        0.45206752225820285,
+        0.08219724048738186,
+        0.526393591150616
+      ],
+      "offset_cmd": [
+        0.08225989436180182,
+        0.02709708051566374,
+        0.192905547667342
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.6087776764779487,
+        0.08569693575599979,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5640,
+      "style": 25640
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.024732869118452072,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 148,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.00591713361666394,
+      "tilt_deg": 2.9267264506437196
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5713257789611816,
+      0.23389622569084167,
+      0.1704772561788559
+    ],
+    "toast_quat": [
+      0.575160026550293,
+      0.4574683904647827,
+      -0.4158000349998474,
+      -0.5357460379600525
+    ],
+    "toast_vel": [
+      9.516928912489675e-06,
+      2.1726367549490533e-07,
+      -5.384250471252017e-06
+    ],
+    "toast_ang": [
+      -6.970798858674243e-05,
+      0.00023417991178575903,
+      -1.646269447519444e-05
+    ],
+    "toast_aabb_lo": [
+      0.550443172454834,
+      0.1832144856452942,
+      0.1215858981013298
+    ],
+    "toast_aabb_hi": [
+      0.5922083854675293,
+      0.28457796573638916,
+      0.2193686068058014
+    ],
+    "toast_in_toaster_frame": [
+      0.0085145253688097,
+      0.02022431790828705,
+      0.08377725630998611
+    ],
+    "toaster_pos": [
+      0.5923925042152405,
+      0.2277551144361496,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.6653639674186707,
+      0.0,
+      0.0,
+      0.746519148349762
+    ],
+    "lever_q": [
+      -0.0670309066772461
+    ],
+    "lever_frac": [
+      0.8275420665740967
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.09430429339408875,
+      -0.03192976862192154,
+      -0.29112473130226135,
+      0.9630395174026489,
+      0.028032151982188225,
+      0.09914284199476242,
+      0.2488771378993988,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2575644254684448,
+      0.0,
+      -0.2199999988079071,
+      0.02356177195906639,
+      -0.00734954047948122,
+      -0.040121037513017654,
+      0.30523917078971863,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3509000837802887,
+      -0.041231535375118256,
+      0.07247980684041977,
+      0.30000001192092896,
+      0.25,
+      0.17841234803199768,
+      0.4290529787540436,
+      1.100000023841858,
+      0.14770454168319702
+    ],
+    "last_action": [
+      0.09430429339408875,
+      -0.03192976862192154,
+      -0.28718626499176025,
+      0.9630395174026489,
+      0.028032151982188225,
+      0.09914284199476242,
+      0.2488771378993988,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2575644254684448,
+      0.0,
+      -0.2199999988079071,
+      0.02356177195906639,
+      -0.00734954047948122,
+      -0.040121037513017654,
+      0.30523917078971863,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3509000837802887,
+      -0.041231535375118256,
+      0.07247980684041977,
+      0.30000001192092896,
+      0.25,
+      0.17841234803199768,
+      0.4290529787540436,
+      1.100000023841858,
+      0.14770454168319702
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 316,
+    "seconds": 15.8,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.39730067819254566,
+    "command_speed_max_m_s": 0.38862085767889193,
+    "command_acceleration_p95_m_s2": 0.62016272968975,
+    "command_jerk_p95_m_s3": 2.773972657352811,
+    "finger_range_rad": [
+      0.8901460766792297,
+      0.4790038391947746,
+      1.2261989563703537,
+      1.192435622215271,
+      0.005531418602913618,
+      0.267128124833107,
+      0.3477581839542836,
+      0.21377065684646368,
+      0.2401210404932499,
+      1.1447608768939972,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1547095775604248,
+      1.0625376403331757,
+      0.2738855630159378,
+      0.31277464888989925,
+      1.269397258758545,
+      0.7840705662965775,
+      0.8893107995390892,
+      1.1009274423122406,
+      0.8929513096809387,
+      0.9235690012574196
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.39730067819254566,
+        "mean_palm_x": -0.4147128680798737
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4299683315879375,
+        "mean_palm_x": -0.614830497306106
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.42678532311093087,
+        "mean_palm_x": -0.6020419796318087
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.42216933282868063,
+        "mean_palm_x": -0.4163972156382592
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.42689690833291305,
+        "mean_palm_x": -0.27661656806520224
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4268963489298163,
+        "mean_palm_x": -0.2746386240119948
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.516819997787302,
+        "mean_palm_x": -0.07765860394940972
+      },
+      "Press the lever down": {
+        "seconds": 0.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8863447652437177,
+        "mean_palm_x": 0.0007344403931906759
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 35,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 35
+  }
+}

meta/controller_episodes/episode_000036.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25641,
+  "scene_seed": 5641,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 324,
+  "recorded": true,
+  "first_success_tick": 324,
+  "post_success_error": null,
+  "command_hash": "e44a225d6615bf9247028efb95a12a1cd14965239476a575e657d7fa972ec857",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5641,
+    "style": 25641,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.29808497327580663,
+      "width": 0.03393477849360557,
+      "minimum_speed_fraction": 0.08469880497555982
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.0337958185535591,
+      -0.0053369052919942095,
+      -0.0024410598301144587
+    ],
+    "initial_wrist_xyz_deg": [
+      10.815899802987094,
+      7.541619272855822,
+      -4.075193248180736
+    ],
+    "initial_position": [
+      0.34320420026779175,
+      -0.005336905363947153,
+      0.5178589224815369
+    ],
+    "initial_fingers": [
+      0.5369439125061035,
+      0.3319509029388428,
+      0.31746283173561096,
+      0.33723247051239014,
+      0.0,
+      -0.12982849776744843,
+      0.02946866862475872,
+      -0.006273331120610237,
+      -0.026823904365301132,
+      0.3194873332977295,
+      0.2688784599304199,
+      0.2175687551498413,
+      0.28105980157852173,
+      0.40790635347366333,
+      -0.053763870149850845,
+      0.04737149178981781,
+      0.2349744737148285,
+      0.12542589008808136,
+      0.13990165293216705,
+      0.3300209045410156,
+      0.16526542603969574,
+      0.1990010142326355
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -40.24243994142482
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.806268174778746,
+      "entry": [
+        0.533919379638417,
+        0.2602301217956705,
+        0.4997135831994961
+      ],
+      "mid": [
+        0.490778722130648,
+        0.05422878155327654,
+        0.5397135831994961
+      ],
+      "offset_cmd": [
+        0.0918877201624779,
+        0.022247733551024232,
+        0.1916311662752727
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.6279643739312465,
+        0.07144717694862329,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5641,
+      "style": 25641
+    },
+    {
+      "tick": 69,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 99,
+      "kind": "bread_lift",
+      "bottom_z": 0.020067257806658745,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 155,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.002640707847522694,
+      "tilt_deg": 4.567480586977164
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5903252959251404,
+      0.22045856714248657,
+      0.17172890901565552
+    ],
+    "toast_quat": [
+      0.7949981093406677,
+      0.037788569927215576,
+      -0.6034841537475586,
+      0.048546288162469864
+    ],
+    "toast_vel": [
+      1.1036815521947574e-05,
+      7.279824103534338e-07,
+      -5.921222509641666e-06
+    ],
+    "toast_ang": [
+      -9.91774577414617e-05,
+      0.0002540433488320559,
+      6.827863217040431e-06
+    ],
+    "toast_aabb_lo": [
+      0.5663357973098755,
+      0.16944408416748047,
+      0.12158884108066559
+    ],
+    "toast_aabb_hi": [
+      0.6143147945404053,
+      0.2714730501174927,
+      0.22186897695064545
+    ],
+    "toast_in_toaster_frame": [
+      0.009542914107441902,
+      0.01875511184334755,
+      0.08502890914678574
+    ],
+    "toaster_pos": [
+      0.610124409198761,
+      0.2133300006389618,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.6615304350852966,
+      0.0,
+      0.0,
+      0.7499183416366577
+    ],
+    "lever_q": [
+      -0.06741292774677277
+    ],
+    "lever_frac": [
+      0.832258403301239
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.13010205328464508,
+      -0.0369141586124897,
+      -0.34024888277053833,
+      0.9564437866210938,
+      -0.07229425013065338,
+      -0.0889052227139473,
+      0.268485963344574,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3471948504447937,
+      0.0,
+      -0.2199999988079071,
+      0.02896132692694664,
+      -0.01170090027153492,
+      -0.007750474847853184,
+      0.30067217350006104,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.31742414832115173,
+      -0.04547799378633499,
+      0.07070803642272949,
+      0.30000001192092896,
+      0.25,
+      0.14310888946056366,
+      0.4161902368068695,
+      1.100000023841858,
+      0.18798790872097015
+    ],
+    "last_action": [
+      0.13010205328464508,
+      -0.0369141586124897,
+      -0.33637818694114685,
+      0.9564437866210938,
+      -0.07229425013065338,
+      -0.0889052227139473,
+      0.268485963344574,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3471948504447937,
+      0.0,
+      -0.2199999988079071,
+      0.02896132692694664,
+      -0.01170090027153492,
+      -0.007750474847853184,
+      0.30067217350006104,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.31742414832115173,
+      -0.04547799378633499,
+      0.07070803642272949,
+      0.30000001192092896,
+      0.25,
+      0.14310888946056366,
+      0.4161902368068695,
+      1.100000023841858,
+      0.18798790872097015
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 324,
+    "seconds": 16.2,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.3312498902623145,
+    "command_speed_max_m_s": 0.3802466407176835,
+    "command_acceleration_p95_m_s2": 0.6315378020509337,
+    "command_jerk_p95_m_s3": 2.483691075697771,
+    "finger_range_rad": [
+      0.9128270745277405,
+      0.4790038391947746,
+      1.1322251856327057,
+      1.1124610006809235,
+      0.0,
+      0.21921108663082123,
+      0.32013866677880287,
+      0.21170090325176716,
+      0.22676141373813152,
+      1.1493278741836548,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.118631899356842,
+      1.0825758278369904,
+      0.25369395688176155,
+      0.2934746667742729,
+      1.1610528230667114,
+      0.8743331432342529,
+      0.8598613739013672,
+      1.0696842670440674,
+      0.9345225095748901,
+      0.8120120912790298
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.45206380025520226,
+        "mean_palm_x": -0.5490928660653343
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4936001271382913,
+        "mean_palm_x": -0.6699638516745244
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5095787269295948,
+        "mean_palm_x": -0.6610573560426177
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3312498902623145,
+        "mean_palm_x": -0.507304587575569
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3388509815377443,
+        "mean_palm_x": -0.3863100276998917
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3448525850554305,
+        "mean_palm_x": -0.38367719455980265
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.43866579404449846,
+        "mean_palm_x": -0.09241747837832662
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8839638831265965,
+        "mean_palm_x": 0.0010512797305873233
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 36,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 36
+  }
+}

meta/controller_episodes/episode_000037.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25642,
+  "scene_seed": 5642,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 327,
+  "recorded": true,
+  "first_success_tick": 327,
+  "post_success_error": null,
+  "command_hash": "b64a7cc4bc75225127e4d627f5a7ad9674c27f2d16a9e6e423f5ba28c6f97f4f",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5642,
+    "style": 25642,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.40046780238792967,
+      "width": 0.040262384001237723,
+      "minimum_speed_fraction": 0.043110067638260904
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.04761074497788799,
+      0.014784853756081212,
+      0.009738353208116168
+    ],
+    "initial_wrist_xyz_deg": [
+      -6.358516707335175,
+      11.223022523451622,
+      1.7476974382458366
+    ],
+    "initial_position": [
+      0.4246107339859009,
+      0.014784853905439377,
+      0.5300382971763611
+    ],
+    "initial_fingers": [
+      0.5130513906478882,
+      0.3187192678451538,
+      0.3098057806491852,
+      0.31647059321403503,
+      0.0,
+      -0.0445927157998085,
+      0.026813186705112457,
+      -0.00044830728438682854,
+      -0.01015531923621893,
+      0.2830701172351837,
+      0.1895066499710083,
+      0.2721328139305115,
+      0.36285868287086487,
+      0.3813813030719757,
+      -0.027944833040237427,
+      0.05604509264230728,
+      0.18003004789352417,
+      0.18619389832019806,
+      0.2080129235982895,
+      0.36483949422836304,
+      0.1910834163427353,
+      0.2385714054107666
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 0,
+      "heading_deg": -71.90344308397782
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.8616661797954275,
+      "entry": [
+        0.46413772751911303,
+        0.27117749956718046,
+        0.46357528430195316
+      ],
+      "mid": [
+        0.47231426561883993,
+        0.05670834286744872,
+        0.5035752843019532
+      ],
+      "offset_cmd": [
+        0.09483385580230343,
+        0.015584547273549977,
+        0.1864061736907055
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5913960765455875,
+        0.06370660744565265,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5642,
+      "style": 25642
+    },
+    {
+      "tick": 70,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 100,
+      "kind": "bread_lift",
+      "bottom_z": 0.027476973831653595,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 157,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.007737469472418748,
+      "tilt_deg": 5.035663210924011
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5844824314117432,
+      0.2158980667591095,
+      0.17035838961601257
+    ],
+    "toast_quat": [
+      0.5852084159851074,
+      -0.43885788321495056,
+      -0.4263741672039032,
+      0.5321087837219238
+    ],
+    "toast_vel": [
+      8.467770385323092e-06,
+      1.549698822600476e-07,
+      -5.654378583130892e-06
+    ],
+    "toast_ang": [
+      5.205596244195476e-05,
+      0.00022371784143615514,
+      1.8723805624176748e-05
+    ],
+    "toast_aabb_lo": [
+      0.5638611316680908,
+      0.16325943171977997,
+      0.12158936262130737
+    ],
+    "toast_aabb_hi": [
+      0.6051037907600403,
+      0.2685367166996002,
+      0.21912741661071777
+    ],
+    "toast_in_toaster_frame": [
+      0.008043276146054268,
+      0.019898973405361176,
+      0.08365838974714279
+    ],
+    "toaster_pos": [
+      0.6036209464073181,
+      0.20618310570716858,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.736711859703064,
+      0.0,
+      0.0,
+      0.6762068867683411
+    ],
+    "lever_q": [
+      -0.06810763478279114
+    ],
+    "lever_frac": [
+      0.8408350348472595
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.012068589217960835,
+      -0.06465834379196167,
+      -0.3562068045139313,
+      0.9664821028709412,
+      0.07592403888702393,
+      -0.08254694193601608,
+      0.23094120621681213,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3755388855934143,
+      0.0,
+      -0.2199999988079071,
+      0.030514614656567574,
+      0.0018591729458421469,
+      -0.047160424292087555,
+      0.2640071213245392,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.2846432626247406,
+      -0.03800598904490471,
+      0.028220079839229584,
+      0.30000001192092896,
+      0.25,
+      0.1541389524936676,
+      0.44222962856292725,
+      1.100000023841858,
+      0.1860392838716507
+    ],
+    "last_action": [
+      0.012068589217960835,
+      -0.06465834379196167,
+      -0.3524298071861267,
+      0.9664821028709412,
+      0.07592403888702393,
+      -0.08254694193601608,
+      0.23094120621681213,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.3755388855934143,
+      0.0,
+      -0.2199999988079071,
+      0.030514614656567574,
+      0.0018591729458421469,
+      -0.047160424292087555,
+      0.2640071213245392,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.2846432626247406,
+      -0.03800598904490471,
+      0.028220079839229584,
+      0.30000001192092896,
+      0.25,
+      0.1541389524936676,
+      0.44222962856292725,
+      1.100000023841858,
+      0.1860392838716507
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 327,
+    "seconds": 16.35,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.21414535634277995,
+    "command_speed_max_m_s": 0.37760452980273845,
+    "command_acceleration_p95_m_s2": 0.5792565708848504,
+    "command_jerk_p95_m_s3": 2.2967569531000835,
+    "finger_range_rad": [
+      0.9367350935935974,
+      0.4790038391947746,
+      1.1399095356464386,
+      1.1332463920116425,
+      0.0,
+      0.3044312372803688,
+      0.3222063258290291,
+      0.200398254848551,
+      0.2471604272723198,
+      1.1859929263591766,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0368823111057281,
+      1.1153567135334015,
+      0.23800599202513695,
+      0.31267137080430984,
+      1.2160090655088425,
+      0.8136028796434402,
+      0.8458610475063324,
+      1.0349019765853882,
+      0.9087308347225189,
+      0.8139607161283493
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.9,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.22669862566487753,
+        "mean_palm_x": -0.3520172306390924
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.21414535634277995,
+        "mean_palm_x": -0.39038716082079067
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.21425176011181338,
+        "mean_palm_x": -0.37896698143972973
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.85,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.22405641256463305,
+        "mean_palm_x": -0.0836220984259939
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.46066614594823346,
+        "mean_palm_x": 0.14608033230371734
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4611747213173525,
+        "mean_palm_x": 0.14508149402891696
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5457980759410256,
+        "mean_palm_x": 0.04398538856590944
+      },
+      "Press the lever down": {
+        "seconds": 1.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8856972971822631,
+        "mean_palm_x": 0.0010715801704010088
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 37,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 37
+  }
+}

meta/controller_episodes/episode_000038.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25643,
+  "scene_seed": 5643,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 324,
+  "recorded": true,
+  "first_success_tick": 324,
+  "post_success_error": null,
+  "command_hash": "2f26b1c87b79e4d9be27824f58d733db9d874ef87efc6a74127171bcb8c6f4ca",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5643,
+    "style": 25643,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.5907433845562855,
+      "width": 0.029326839554311722,
+      "minimum_speed_fraction": 0.0596558048531912
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.0003423169258891662,
+      -0.011377364932572645,
+      -0.039007421045729664
+    ],
+    "initial_wrist_xyz_deg": [
+      -3.249398798093864,
+      -7.578168985567435,
+      5.3250430113204885
+    ],
+    "initial_position": [
+      0.3766576945781708,
+      -0.011377365328371525,
+      0.4812925457954407
+    ],
+    "initial_fingers": [
+      0.3646528720855713,
+      0.32524967193603516,
+      0.2740442752838135,
+      0.33002811670303345,
+      0.0,
+      -0.1299242377281189,
+      0.03445729985833168,
+      0.01525157131254673,
+      -0.03397239372134209,
+      0.34801241755485535,
+      0.2775498926639557,
+      0.38484281301498413,
+      0.26188331842422485,
+      0.41384053230285645,
+      -0.054930053651332855,
+      0.025135815143585205,
+      0.10202755779027939,
+      0.20524220168590546,
+      0.11127258837223053,
+      0.3270905315876007,
+      0.1982290893793106,
+      0.11321496218442917
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 0,
+      "heading_deg": -46.06394144492551
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.972388803453566,
+      "entry": [
+        0.4577968023418856,
+        0.29659500498316327,
+        0.4596206948566608
+      ],
+      "mid": [
+        0.44233555606004954,
+        0.07420264819632788,
+        0.4996206948566608
+      ],
+      "offset_cmd": [
+        0.09102507643244319,
+        0.012906234908748813,
+        0.1860038509733035
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5784578440434436,
+        0.08346447448142302,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5643,
+      "style": 25643
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.0304417684674263,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 155,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.002527695303949211,
+      "tilt_deg": 8.842963892392135
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5774935483932495,
+      0.2339554876089096,
+      0.1704581379890442
+    ],
+    "toast_quat": [
+      0.6009731888771057,
+      -0.4583081007003784,
+      -0.4140884578227997,
+      0.5072627067565918
+    ],
+    "toast_vel": [
+      8.86055022419896e-06,
+      -2.0886386664642487e-06,
+      -5.719531145587098e-06
+    ],
+    "toast_ang": [
+      -1.5651536159566604e-05,
+      0.00025392317911610007,
+      -1.543646249047015e-05
+    ],
+    "toast_aabb_lo": [
+      0.554397463798523,
+      0.1805521547794342,
+      0.12158498167991638
+    ],
+    "toast_aabb_hi": [
+      0.6005895733833313,
+      0.287358820438385,
+      0.219331294298172
+    ],
+    "toast_in_toaster_frame": [
+      0.006259129382669926,
+      0.0192402470856905,
+      0.08375813812017441
+    ],
+    "toaster_pos": [
+      0.5958308577537537,
+      0.2254052311182022,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7488289475440979,
+      0.0,
+      0.0,
+      0.6627632975578308
+    ],
+    "lever_q": [
+      -0.06684985756874084
+    ],
+    "lever_frac": [
+      0.8253068923950195
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.04735447093844414,
+      -0.01928095705807209,
+      -0.3036775290966034,
+      0.9783179759979248,
+      0.014752397313714027,
+      0.07032958418130875,
+      0.19424211978912354,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.33586743474006653,
+      0.0,
+      -0.2199999988079071,
+      0.023370468989014626,
+      -0.010330179706215858,
+      -0.010930669493973255,
+      0.26649564504623413,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3480224311351776,
+      -0.03575563430786133,
+      0.049728184938430786,
+      0.30000001192092896,
+      0.25,
+      0.11569337546825409,
+      0.39490559697151184,
+      1.100000023841858,
+      0.2371993064880371
+    ],
+    "last_action": [
+      0.04735447093844414,
+      -0.01928095705807209,
+      -0.2998068332672119,
+      0.9783179759979248,
+      0.014752397313714027,
+      0.07032958418130875,
+      0.19424211978912354,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.33586743474006653,
+      0.0,
+      -0.2199999988079071,
+      0.023370468989014626,
+      -0.010330179706215858,
+      -0.010930669493973255,
+      0.26649564504623413,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3480224311351776,
+      -0.03575563430786133,
+      0.049728184938430786,
+      0.30000001192092896,
+      0.25,
+      0.11569337546825409,
+      0.39490559697151184,
+      1.100000023841858,
+      0.2371993064880371
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 324,
+    "seconds": 16.2,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.38795148711389715,
+    "command_speed_max_m_s": 0.3790463422288331,
+    "command_acceleration_p95_m_s2": 0.5623618683266943,
+    "command_jerk_p95_m_s3": 2.34167288156049,
+    "finger_range_rad": [
+      1.0849937796592712,
+      0.4790038391947746,
+      1.17554172873497,
+      1.1195775866508484,
+      0.0,
+      0.21909858286380768,
+      0.3257295247167349,
+      0.2103301826864481,
+      0.23389001563191414,
+      1.1835044026374817,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.1377159357070923,
+      1.0519775450229645,
+      0.25484029576182365,
+      0.31568992510437965,
+      1.2938771396875381,
+      0.7944779694080353,
+      0.8884144946932793,
+      1.072531670331955,
+      0.9015115052461624,
+      0.886472798883915
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.38795148711389715,
+        "mean_palm_x": -0.4691788448706011
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.455606208604097,
+        "mean_palm_x": -0.6307337214804446
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.44975615064152896,
+        "mean_palm_x": -0.6131883616662334
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4637170751022504,
+        "mean_palm_x": -0.170364811616929
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4718640821443993,
+        "mean_palm_x": 0.14492833348536188
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4730094753991756,
+        "mean_palm_x": 0.14382268047067587
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5582463566592787,
+        "mean_palm_x": 0.05233784348653353
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8768704006660059,
+        "mean_palm_x": 0.0003506782995304769
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 38,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 38
+  }
+}

meta/controller_episodes/episode_000039.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25644,
+  "scene_seed": 5644,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 316,
+  "recorded": true,
+  "first_success_tick": 316,
+  "post_success_error": null,
+  "command_hash": "6434586954f53b2b39c28665ea17d780e014d9761e66a05f7ba1f8eaffd71a39",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5644,
+    "style": 25644,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.4888900772948933,
+      "width": 0.03469785362283109,
+      "minimum_speed_fraction": 0.0495016730380005
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.01704875732445499,
+      -0.039456845919507766,
+      -0.03826320498670897
+    ],
+    "initial_wrist_xyz_deg": [
+      6.267182379661065,
+      -2.3092069373031308,
+      -6.177251923261207
+    ],
+    "initial_position": [
+      0.3599512577056885,
+      -0.039456844329833984,
+      0.4820367693901062
+    ],
+    "initial_fingers": [
+      0.6164484620094299,
+      0.18867963552474976,
+      0.21272137761116028,
+      0.274250864982605,
+      0.0,
+      -0.04167855903506279,
+      0.01682460680603981,
+      0.015009507536888123,
+      -0.03208427503705025,
+      0.3562937378883362,
+      0.19378341734409332,
+      0.3044702112674713,
+      0.28169330954551697,
+      0.3264048397541046,
+      -0.045932020992040634,
+      0.07353300601243973,
+      0.10635431855916977,
+      0.08649352937936783,
+      0.2053770124912262,
+      0.2842198610305786,
+      0.12135087698698044,
+      0.11368698626756668
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -47.19731541984359
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.5783673706074537,
+      "entry": [
+        0.5211196278261208,
+        0.2655082278849059,
+        0.4856318358211281
+      ],
+      "mid": [
+        0.4835086184107792,
+        0.07582351607091098,
+        0.5256318358211282
+      ],
+      "offset_cmd": [
+        0.08610144980579956,
+        0.023713280455731345,
+        0.18656924304879666
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5959522334101561,
+        0.05872646827014619,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5644,
+      "style": 25644
+    },
+    {
+      "tick": 66,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 96,
+      "kind": "bread_lift",
+      "bottom_z": 0.027739403769373894,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 148,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.006068063759290761,
+      "tilt_deg": 6.767919642375691
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5914083123207092,
+      0.210983008146286,
+      0.17168450355529785
+    ],
+    "toast_quat": [
+      0.7969569563865662,
+      -0.026210885494947433,
+      -0.6023997664451599,
+      -0.035874415189027786
+    ],
+    "toast_vel": [
+      7.532240488217212e-06,
+      -1.4621813306803233e-06,
+      -4.661466846300755e-06
+    ],
+    "toast_ang": [
+      -3.003586425620597e-05,
+      0.0001979851076612249,
+      -7.641164302185643e-06
+    ],
+    "toast_aabb_lo": [
+      0.5681217908859253,
+      0.16181063652038574,
+      0.1215798556804657
+    ],
+    "toast_aabb_hi": [
+      0.6146948337554932,
+      0.2601553797721863,
+      0.22178915143013
+    ],
+    "toast_in_toaster_frame": [
+      0.008151025511324406,
+      0.01886979304254055,
+      0.08498450368642807
+    ],
+    "toaster_pos": [
+      0.6094261407852173,
+      0.2010902762413025,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.739669919013977,
+      0.0,
+      0.0,
+      0.6729698777198792
+    ],
+    "lever_q": [
+      -0.06832925230264664
+    ],
+    "lever_frac": [
+      0.8435710072517395
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.08135063946247101,
+      -0.015530580654740334,
+      -0.3005558252334595,
+      0.9539047479629517,
+      -0.05815239995718002,
+      0.003171857912093401,
+      0.29440438747406006,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.384170264005661,
+      0.0,
+      -0.2199999988079071,
+      0.028755441308021545,
+      0.005524085834622383,
+      -0.019038444384932518,
+      0.3796374797821045,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.38043662905693054,
+      -0.06126631423830986,
+      0.05891083553433418,
+      0.30000001192092896,
+      0.25,
+      0.22360937297344208,
+      0.36325976252555847,
+      1.100000023841858,
+      0.09109349548816681
+    ],
+    "last_action": [
+      0.08135063946247101,
+      -0.015530580654740334,
+      -0.2966173589229584,
+      0.9539047479629517,
+      -0.05815239995718002,
+      0.003171857912093401,
+      0.29440438747406006,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.384170264005661,
+      0.0,
+      -0.2199999988079071,
+      0.028755441308021545,
+      0.005524085834622383,
+      -0.019038444384932518,
+      0.3796374797821045,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.38043662905693054,
+      -0.06126631423830986,
+      0.05891083553433418,
+      0.30000001192092896,
+      0.25,
+      0.22360937297344208,
+      0.36325976252555847,
+      1.100000023841858,
+      0.09109349548816681
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 316,
+    "seconds": 15.8,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.28030437113095624,
+    "command_speed_max_m_s": 0.3923636297216535,
+    "command_acceleration_p95_m_s2": 0.6665837813406433,
+    "command_jerk_p95_m_s3": 2.808824225307349,
+    "finger_range_rad": [
+      0.8332868814468384,
+      0.4790038391947746,
+      1.2368430197238922,
+      1.1753351986408234,
+      0.0,
+      0.3073131926357746,
+      0.33215839229524136,
+      0.19447591714560986,
+      0.23200256004929543,
+      1.0933212041854858,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.117912918329239,
+      1.073217123746872,
+      0.2612663172185421,
+      0.28198061510920525,
+      1.2895519062876701,
+      0.913184829056263,
+      0.7943432033061981,
+      1.1153872609138489,
+      0.978362649679184,
+      0.9089065045118332
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.7,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3973130085750377,
+        "mean_palm_x": -0.4523262114065021
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4327181595833357,
+        "mean_palm_x": -0.6248422118547537
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4449667494926287,
+        "mean_palm_x": -0.6272020779837408
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.28030437113095624,
+        "mean_palm_x": -0.35202700761019057
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.28214884707850496,
+        "mean_palm_x": -0.14898504671375254
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.2840952338424356,
+        "mean_palm_x": -0.14787124550281244
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.38825323411969737,
+        "mean_palm_x": -0.05472027318418128
+      },
+      "Press the lever down": {
+        "seconds": 0.95,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.880600468775605,
+        "mean_palm_x": -0.0019373134598465254
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 39,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 39
+  }
+}

meta/controller_episodes/episode_000040.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25645,
+  "scene_seed": 5645,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 332,
+  "recorded": true,
+  "first_success_tick": 332,
+  "post_success_error": null,
+  "command_hash": "2286d41ce396e5d8c7bd3f8d46a1722187116d764052b951082c64896c0f1afa",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5645,
+    "style": 25645,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.4447225476237625,
+      "width": 0.037763352942175275,
+      "minimum_speed_fraction": 0.04428487390170712
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.04116256918357375,
+      0.04286716990450522,
+      0.019462430263818165
+    ],
+    "initial_wrist_xyz_deg": [
+      7.261058539235783,
+      11.453945217029741,
+      1.219012542635637
+    ],
+    "initial_position": [
+      0.41816258430480957,
+      0.04286716878414154,
+      0.5397623777389526
+    ],
+    "initial_fingers": [
+      0.5846778154373169,
+      0.3342868983745575,
+      0.22361847758293152,
+      0.3378015160560608,
+      0.0,
+      -0.044797055423259735,
+      0.04315540939569473,
+      0.00955076515674591,
+      -0.004305114503949881,
+      0.2782827317714691,
+      0.209324911236763,
+      0.34440672397613525,
+      0.38507118821144104,
+      0.4382143020629883,
+      -0.0363934226334095,
+      0.05401928350329399,
+      0.09280845522880554,
+      0.1166825070977211,
+      0.18508656322956085,
+      0.4039568603038788,
+      0.10605286061763763,
+      0.1998225450515747
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 1,
+      "heading_deg": -7.442242570745405
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.0748156304204386,
+      "entry": [
+        0.4976383320327783,
+        0.28988390568682665,
+        0.47944793786507167
+      ],
+      "mid": [
+        0.4436231787918103,
+        0.06568783970569131,
+        0.5194479378650717
+      ],
+      "offset_cmd": [
+        0.0910187629651101,
+        0.019807692658738787,
+        0.1886486729131184
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.58756426351746,
+        0.07101047258420481,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5645,
+      "style": 25645
+    },
+    {
+      "tick": 72,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 102,
+      "kind": "bread_lift",
+      "bottom_z": 0.02282251976430416,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 163,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.004462386689845118,
+      "tilt_deg": 2.898654918250833
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5824548006057739,
+      0.22598865628242493,
+      0.17228659987449646
+    ],
+    "toast_quat": [
+      0.7576433420181274,
+      -0.0535922609269619,
+      -0.6473333239555359,
+      -0.06374817341566086
+    ],
+    "toast_vel": [
+      9.821268577070441e-06,
+      -1.6804311826490448e-06,
+      -4.0316190279554576e-06
+    ],
+    "toast_ang": [
+      -2.125199716829229e-05,
+      0.00023086575674824417,
+      -1.6726506146369502e-05
+    ],
+    "toast_aabb_lo": [
+      0.5613783597946167,
+      0.17682892084121704,
+      0.12159541994333267
+    ],
+    "toast_aabb_hi": [
+      0.6035312414169312,
+      0.2751483917236328,
+      0.22297778725624084
+    ],
+    "toast_in_toaster_frame": [
+      0.010660743340849876,
+      0.020801939070224762,
+      0.08558660000562668
+    ],
+    "toaster_pos": [
+      0.6020681858062744,
+      0.2132730334997177,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7421004176139832,
+      0.0,
+      0.0,
+      0.6702887415885925
+    ],
+    "lever_q": [
+      -0.06760318577289581
+    ],
+    "lever_frac": [
+      0.8346072435379028
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.015258241444826126,
+      -0.08657427132129669,
+      -0.3621421158313751,
+      0.9674795269966125,
+      -0.03822992742061615,
+      -0.1114717349410057,
+      0.22382114827632904,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.30247724056243896,
+      0.0,
+      -0.2199999988079071,
+      0.01551372092217207,
+      -0.01722087897360325,
+      -0.016820095479488373,
+      0.36138954758644104,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.4107889235019684,
+      -0.061527054756879807,
+      0.030611393973231316,
+      0.30000001192092896,
+      0.25,
+      0.10595035552978516,
+      0.3277060091495514,
+      1.100000023841858,
+      0.1875249296426773
+    ],
+    "last_action": [
+      0.015258241444826126,
+      -0.08657427132129669,
+      -0.35827144980430603,
+      0.9674795269966125,
+      -0.03822992742061615,
+      -0.1114717349410057,
+      0.22382114827632904,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.30247724056243896,
+      0.0,
+      -0.2199999988079071,
+      0.01551372092217207,
+      -0.01722087897360325,
+      -0.016820095479488373,
+      0.36138954758644104,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.4107889235019684,
+      -0.061527054756879807,
+      0.030611393973231316,
+      0.30000001192092896,
+      0.25,
+      0.10595035552978516,
+      0.3277060091495514,
+      1.100000023841858,
+      0.1875249296426773
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 332,
+    "seconds": 16.6,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.36436033537821794,
+    "command_speed_max_m_s": 0.3970033655521349,
+    "command_acceleration_p95_m_s2": 0.5603563193959984,
+    "command_jerk_p95_m_s3": 2.285395691516643,
+    "finger_range_rad": [
+      0.8651576042175293,
+      0.4790038391947746,
+      1.2261239290237427,
+      1.1475228071212769,
+      0.0,
+      0.30423900857567787,
+      0.33358627278357744,
+      0.2172208819538355,
+      0.2168200984597206,
+      1.1714711487293243,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.0147155821323395,
+      0.9892110526561737,
+      0.26152705773711205,
+      0.3102800566703081,
+      1.3032537326216698,
+      0.8831319287419319,
+      0.8940496444702148,
+      1.0722939670085907,
+      0.9937730133533478,
+      0.8124750703573227
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 3.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.613183208742611,
+        "mean_palm_x": -0.5985607993989356
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6689530417568139,
+        "mean_palm_x": -0.7426878358059185
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6609245760201926,
+        "mean_palm_x": -0.740425613643568
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.05,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.36436033537821794,
+        "mean_palm_x": -0.3778442220851301
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.3687167704777745,
+        "mean_palm_x": -0.10047386941515102
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.36871776384469335,
+        "mean_palm_x": -0.09972189693063314
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.46462491391191985,
+        "mean_palm_x": 0.0023561074286896234
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8768514657650351,
+        "mean_palm_x": 0.00018499410332048494
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 40,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 40
+  }
+}

meta/controller_episodes/episode_000041.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25646,
+  "scene_seed": 5646,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 325,
+  "recorded": true,
+  "first_success_tick": 325,
+  "post_success_error": null,
+  "command_hash": "9d7b2b140bc2b7ff40ad9f915e70de25ec9431b72dc46663c26f066a8f6c41a9",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5646,
+    "style": 25646,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.34972246212202923,
+      "width": 0.04450998178226198,
+      "minimum_speed_fraction": 0.06000845707996085
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      -0.04493929514337617,
+      0.029933273211227365,
+      0.021262949149927546
+    ],
+    "initial_wrist_xyz_deg": [
+      -1.9915262663128142,
+      5.8629130075465845,
+      1.6581241546980703
+    ],
+    "initial_position": [
+      0.33206069469451904,
+      0.029933322221040726,
+      0.5415629148483276
+    ],
+    "initial_fingers": [
+      0.38700684905052185,
+      0.23568297922611237,
+      0.24028119444847107,
+      0.24418146908283234,
+      2.4150343946871544e-09,
+      -0.06223855912685394,
+      0.048258353024721146,
+      -0.011891943402588367,
+      -0.04330093786120415,
+      0.33352625370025635,
+      0.24175754189491272,
+      0.3337361514568329,
+      0.39746689796447754,
+      0.3425171375274658,
+      -0.03719263896346092,
+      0.029921256005764008,
+      0.17474132776260376,
+      0.10002932697534561,
+      0.17216116189956665,
+      0.2757379412651062,
+      0.08839220553636551,
+      0.23371434211730957
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 2,
+      "heading_deg": -24.520224155069112
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 2.8044741357360765,
+      "entry": [
+        0.4858481738002944,
+        0.2840793987381275,
+        0.4692577173419079
+      ],
+      "mid": [
+        0.4351548479513252,
+        0.07994406472980059,
+        0.509257717341908
+      ],
+      "offset_cmd": [
+        0.09045090867034072,
+        0.015396933259399895,
+        0.18754701503048762
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5887382510353083,
+        0.06453496310460627,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5646,
+      "style": 25646
+    },
+    {
+      "tick": 70,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 100,
+      "kind": "bread_lift",
+      "bottom_z": 0.028763946145772934,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 156,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.0025052456881072367,
+      "tilt_deg": 2.237465207806507
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.588403582572937,
+      0.21387338638305664,
+      0.17039355635643005
+    ],
+    "toast_quat": [
+      0.5210598707199097,
+      0.408405065536499,
+      -0.455593079328537,
+      -0.5950939655303955
+    ],
+    "toast_vel": [
+      -9.795990081329364e-06,
+      2.1168530111026485e-06,
+      5.619351213681512e-06
+    ],
+    "toast_ang": [
+      2.895965189964045e-05,
+      -0.0002662123297341168,
+      1.5502050700888503e-06
+    ],
+    "toast_aabb_lo": [
+      0.5653679370880127,
+      0.16142289340496063,
+      0.12159125506877899
+    ],
+    "toast_aabb_hi": [
+      0.6114391684532166,
+      0.26632386445999146,
+      0.21919585764408112
+    ],
+    "toast_in_toaster_frame": [
+      0.0051049524918198586,
+      0.019157251343131065,
+      0.08369355648756027
+    ],
+    "toaster_pos": [
+      0.6067644953727722,
+      0.2063942402601242,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.7503525018692017,
+      0.0,
+      0.0,
+      0.6610379815101624
+    ],
+    "lever_q": [
+      -0.06696812808513641
+    ],
+    "lever_frac": [
+      0.8267670273780823
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.10163278877735138,
+      -0.07830953598022461,
+      -0.3639647662639618,
+      0.97207111120224,
+      0.02855006977915764,
+      -0.0458337739109993,
+      0.2283899337053299,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.29769647121429443,
+      0.0,
+      -0.2199999988079071,
+      0.039288729429244995,
+      0.01114087924361229,
+      -0.02023237571120262,
+      0.2762243449687958,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3116525113582611,
+      -0.0371159166097641,
+      0.0405324324965477,
+      0.30000001192092896,
+      0.25,
+      0.1272382140159607,
+      0.44342783093452454,
+      1.100000023841858,
+      0.2372642308473587
+    ],
+    "last_action": [
+      0.10163278877735138,
+      -0.07830953598022461,
+      -0.3600940704345703,
+      0.97207111120224,
+      0.02855006977915764,
+      -0.0458337739109993,
+      0.2283899337053299,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.29769647121429443,
+      0.0,
+      -0.2199999988079071,
+      0.039288729429244995,
+      0.01114087924361229,
+      -0.02023237571120262,
+      0.2762243449687958,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3116525113582611,
+      -0.0371159166097641,
+      0.0405324324965477,
+      0.30000001192092896,
+      0.25,
+      0.1272382140159607,
+      0.44342783093452454,
+      1.100000023841858,
+      0.2372642308473587
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 325,
+    "seconds": 16.25,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.40688383383126725,
+    "command_speed_max_m_s": 0.3898618043535741,
+    "command_acceleration_p95_m_s2": 0.6004426481497166,
+    "command_jerk_p95_m_s3": 2.2591074582730615,
+    "finger_range_rad": [
+      1.062749058008194,
+      0.4790038391947746,
+      1.2094178795814514,
+      1.205518588423729,
+      2.4144335419862273e-09,
+      0.28679006546735764,
+      0.3098112642765045,
+      0.21183922979980707,
+      0.24324040859937668,
+      1.17377570271492,
+      1.4726269915699959,
+      0.7218103408813477,
+      1.002283662557602,
+      1.088347464799881,
+      0.23713362962007523,
+      0.3109249547123909,
+      1.2212974280118942,
+      0.8997467681765556,
+      0.8727617859840393,
+      1.1239823400974274,
+      1.0113971829414368,
+      0.7660950124263763
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.9,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5634151680677221,
+        "mean_palm_x": -0.5796277453807254
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5905060104207722,
+        "mean_palm_x": -0.7371048377546289
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5849123266946717,
+        "mean_palm_x": -0.7455114689530943
+      },
+      "Carry the bread over the slot": {
+        "seconds": 2.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.40688383383126725,
+        "mean_palm_x": -0.2778170411204758
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4079957866263155,
+        "mean_palm_x": 0.05280872961580578
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.408000120296344,
+        "mean_palm_x": 0.05241963274211986
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5000049463709765,
+        "mean_palm_x": 0.040081177630115865
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8818286604815049,
+        "mean_palm_x": 0.0009303312066555769
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 41,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 41
+  }
+}

meta/controller_episodes/episode_000042.json

@@ -0,0 +1,410 @@
+{
+  "task": "put_bread_toaster",
+  "style": 25647,
+  "scene_seed": 5647,
+  "native_success": true,
+  "accepted": true,
+  "error": null,
+  "steps": 333,
+  "recorded": true,
+  "first_success_tick": 333,
+  "post_success_error": null,
+  "command_hash": "6342818b8fbd48284f18824e7cd8b8c72f0c012201a9d2d23cff6f716bf0e80a",
+  "params": {
+    "version": "task_controllers_lerobot_v4",
+    "robot": "floating+sharpa_fardexbot",
+    "task": "put_bread_toaster",
+    "scene_seed": 5647,
+    "style": 25647,
+    "hesitation": {
+      "enabled": false,
+      "probability": 0.0,
+      "phase": null,
+      "center": 0.32494816740259913,
+      "width": 0.04251476076317272,
+      "minimum_speed_fraction": 0.096977108394286
+    },
+    "probe": false,
+    "variation_scale": 1.0,
+    "gp_wobble": false,
+    "camera_resolution": [
+      224,
+      224
+    ],
+    "initial_offset_xyz_m": [
+      0.028594846801172955,
+      -0.012433805832302823,
+      -0.0007585996957184399
+    ],
+    "initial_wrist_xyz_deg": [
+      -2.9747851389199944,
+      1.547163430673244,
+      -10.786416674279767
+    ],
+    "initial_position": [
+      0.4055948555469513,
+      -0.012433805502951145,
+      0.5195413827896118
+    ],
+    "initial_fingers": [
+      0.5519695281982422,
+      0.3290383815765381,
+      0.3555821478366852,
+      0.3846180737018585,
+      0.0,
+      -0.1403689980506897,
+      0.014859581366181374,
+      -0.008745269849896431,
+      -0.028656158596277237,
+      0.3894331157207489,
+      0.1789655238389969,
+      0.22462645173072815,
+      0.41267120838165283,
+      0.39493268728256226,
+      -0.05709507316350937,
+      0.06988276541233063,
+      0.1859997808933258,
+      0.17375802993774414,
+      0.12086106836795807,
+      0.38635313510894775,
+      0.16828492283821106,
+      0.10568514466285706
+    ],
+    "staged_start": false,
+    "motion_version": "toaster_simple_v1",
+    "behavior_reference": {
+      "person_position": [
+        0.0,
+        0.0,
+        0.0
+      ],
+      "forward_axis": [
+        1.0,
+        0.0,
+        0.0
+      ],
+      "hand": "right",
+      "safe_opening_palm_preference": [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      "arm_model": false
+    },
+    "dart": {
+      "pos_m": 0.015,
+      "rot_deg": 4.0,
+      "finger_rad": 0.0,
+      "tau_s": 0.6,
+      "phase_scale": [
+        1.0,
+        0.5,
+        0.1
+      ],
+      "quiet_stages": [
+        "Pinch the bread",
+        "Lower the bread into the slot",
+        "Release the bread",
+        "Press the lever down",
+        "Hold the lever down"
+      ],
+      "ramp_m": [
+        0.24,
+        0.34
+      ],
+      "process": "ornstein-uhlenbeck, stationary start",
+      "label": "clean command"
+    },
+    "squeeze_m": 0.02,
+    "simple_grasp": {
+      "edge": 3,
+      "heading_deg": 7.199847493209643
+    },
+    "simple_carry": {
+      "side": 1.0,
+      "seconds": 3.191071697856004,
+      "entry": [
+        0.47615345108209556,
+        0.2625145362775419,
+        0.48964886767457033
+      ],
+      "mid": [
+        0.4249126701936051,
+        0.028733844407443893,
+        0.5296488676745703
+      ],
+      "offset_cmd": [
+        0.09359798492101089,
+        0.010003202933351675,
+        0.1916442900683656
+      ]
+    },
+    "simple_lever": {
+      "knob": [
+        0.5922091305792012,
+        0.06910646190841982,
+        0.17939999986886979
+      ],
+      "times": [
+        0.0,
+        0.8,
+        2.4,
+        3.1,
+        5.1
+      ]
+    }
+  },
+  "events": [
+    {
+      "tick": 0,
+      "kind": "reset",
+      "scene_seed": 5647,
+      "style": 25647
+    },
+    {
+      "tick": 70,
+      "kind": "bread_grasp_contacts",
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 100,
+      "kind": "bread_lift",
+      "bottom_z": 0.02124851942062378,
+      "contacts": {
+        "thumb": true,
+        "index": true,
+        "middle": false,
+        "ring": false,
+        "pinky": false,
+        "palm": false
+      }
+    },
+    {
+      "tick": 164,
+      "kind": "bread_at_entry",
+      "xy_error_m": 0.009095316937604837,
+      "tilt_deg": 3.0060394630088094
+    }
+  ],
+  "final_other": {
+    "toast_pos": [
+      0.5612823963165283,
+      0.22297200560569763,
+      0.17196565866470337
+    ],
+    "toast_quat": [
+      0.03640871122479439,
+      0.6221536993980408,
+      0.008711199276149273,
+      -0.7819995284080505
+    ],
+    "toast_vel": [
+      -2.7865303309226874e-06,
+      -1.5241803907883877e-07,
+      2.01171383196197e-06
+    ],
+    "toast_ang": [
+      1.003868328552926e-05,
+      -6.881305307615548e-05,
+      -1.942570690971479e-07
+    ],
+    "toast_aabb_lo": [
+      0.5417221784591675,
+      0.17147283256053925,
+      0.12159428000450134
+    ],
+    "toast_aabb_hi": [
+      0.5808426737785339,
+      0.2744711935520172,
+      0.2223370224237442
+    ],
+    "toast_in_toaster_frame": [
+      0.012793767265975475,
+      0.018957074731588364,
+      0.08526565879583359
+    ],
+    "toaster_pos": [
+      0.5811704993247986,
+      0.21167977154254913,
+      0.08669999986886978
+    ],
+    "toaster_quat": [
+      0.6792668104171753,
+      0.0,
+      0.0,
+      0.7338914275169373
+    ],
+    "lever_q": [
+      -0.06633047759532928
+    ],
+    "lever_frac": [
+      0.8188948035240173
+    ],
+    "dial_q": [
+      0.0
+    ],
+    "toast_in_slot": [
+      1.0
+    ],
+    "action": [
+      0.03135412931442261,
+      -0.030924109742045403,
+      -0.34195151925086975,
+      0.9427419304847717,
+      0.0289634857326746,
+      -0.004112580791115761,
+      0.3322376310825348,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2744147777557373,
+      0.0,
+      -0.2199999988079071,
+      0.045130420476198196,
+      0.017626814544200897,
+      -0.046630859375,
+      0.2657741904258728,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3636411130428314,
+      -0.0473383367061615,
+      0.06829828023910522,
+      0.30000001192092896,
+      0.25,
+      0.23885470628738403,
+      0.3858318626880646,
+      1.100000023841858,
+      0.1814945787191391
+    ],
+    "last_action": [
+      0.03135412931442261,
+      -0.030924109742045403,
+      -0.33808082342147827,
+      0.9427419304847717,
+      0.0289634857326746,
+      -0.004112580791115761,
+      0.3322376310825348,
+      1.4500000476837158,
+      0.4000000059604645,
+      0.3499999940395355,
+      0.2744147777557373,
+      0.0,
+      -0.2199999988079071,
+      0.045130420476198196,
+      0.017626814544200897,
+      -0.046630859375,
+      0.2657741904258728,
+      1.396299958229065,
+      0.6000000238418579,
+      0.44999998807907104,
+      0.3636411130428314,
+      -0.0473383367061615,
+      0.06829828023910522,
+      0.30000001192092896,
+      0.25,
+      0.23885470628738403,
+      0.3858318626880646,
+      1.100000023841858,
+      0.1814945787191391
+    ]
+  },
+  "human_visual_review": "unrated",
+  "motion_quality": {
+    "frames": 333,
+    "seconds": 16.65,
+    "backward_fraction": 0.0,
+    "minimum_forward_x": 0.4796180827152574,
+    "command_speed_max_m_s": 0.36608688513207815,
+    "command_acceleration_p95_m_s2": 0.5582046037964459,
+    "command_jerk_p95_m_s3": 2.221593320450789,
+    "finger_range_rad": [
+      0.8978250026702881,
+      0.4790038391947746,
+      1.1000000536441803,
+      1.1755852699279785,
+      0.0,
+      0.2086784392595291,
+      0.33415625896304846,
+      0.2086927155032754,
+      0.24663086235523224,
+      1.184225857257843,
+      1.4726269915699959,
+      0.7218103408813477,
+      0.9870801866054535,
+      1.0363588631153107,
+      0.25703034549951553,
+      0.2725931704044342,
+      1.2100386768579483,
+      0.8260339498519897,
+      0.8789175897836685,
+      1.0141681134700775,
+      0.9315220564603806,
+      0.8940896913409233
+    ],
+    "phases": {
+      "Reach the bread": {
+        "seconds": 2.9,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.648733713337327,
+        "mean_palm_x": -0.5290197667150086
+      },
+      "Pinch the bread": {
+        "seconds": 0.6,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.6616202654274633,
+        "mean_palm_x": -0.6999357791985075
+      },
+      "Lift the bread": {
+        "seconds": 1.5,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.669269298808676,
+        "mean_palm_x": -0.6868495580484777
+      },
+      "Carry the bread over the slot": {
+        "seconds": 3.2,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4846829072754826,
+        "mean_palm_x": -0.42667682984912214
+      },
+      "Lower the bread into the slot": {
+        "seconds": 4.35,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.4796180827152574,
+        "mean_palm_x": -0.23549479280862548
+      },
+      "Release the bread": {
+        "seconds": 0.8,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.47962401968079915,
+        "mean_palm_x": -0.23374842619182415
+      },
+      "Move over the lever": {
+        "seconds": 2.3,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.5613499094889168,
+        "mean_palm_x": -0.054335174763003674
+      },
+      "Press the lever down": {
+        "seconds": 1.0,
+        "backward_fraction": 0.0,
+        "minimum_forward_x": 0.8837310546428873,
+        "mean_palm_x": 0.0005061509574053269
+      }
+    },
+    "human_visual_review": "unrated"
+  },
+  "lerobot_episode_index": 42,
+  "merged_from": {
+    "shard": "run-8GwrIr1g",
+    "shard_order": 0,
+    "episode_index": 42
+  }
+}