Datasets:
spray_graffiti_floating_sharpa_scripted: 200 scripted Sharpa episodes (LeRobot v3.0)
936f7a0 verified Download meta/controller_episodes/episode_000000.json from dexsuite/spray_graffiti_floating_sharpa_scripted: direct link, hf CLI and curl.
- Browser
- Download file 23.1 kB
-
https://huggingface.co/datasets/dexsuite/spray_graffiti_floating_sharpa_scripted/resolve/main/meta/controller_episodes/episode_000000.json
- Command line
-
hf download hf://datasets/dexsuite/spray_graffiti_floating_sharpa_scripted/meta/controller_episodes/episode_000000.json
-
curl -L -o episode_000000.json https://huggingface.co/datasets/dexsuite/spray_graffiti_floating_sharpa_scripted/resolve/main/meta/controller_episodes/episode_000000.json
23.1 kB
| { | |
| "task": "spray_graffiti", | |
| "style": 25000, | |
| "scene_seed": 5000, | |
| "native_success": true, | |
| "accepted": true, | |
| "error": null, | |
| "steps": 476, | |
| "recorded": true, | |
| "first_success_tick": 380, | |
| "post_success_error": null, | |
| "command_hash": "b628380fd6bb87352e893f145ffc4d2663346e31a8e1f342d170787119962399", | |
| "params": { | |
| "version": "task_controllers_lerobot_v4", | |
| "robot": "floating+sharpa_fardexbot", | |
| "task": "spray_graffiti", | |
| "scene_seed": 5000, | |
| "style": 25000, | |
| "hesitation": { | |
| "enabled": false, | |
| "probability": 0.0, | |
| "phase": null, | |
| "center": 0.5084855681591154, | |
| "width": 0.03755904818837737, | |
| "minimum_speed_fraction": 0.0677862310607878 | |
| }, | |
| "probe": false, | |
| "variation_scale": 1.0, | |
| "gp_wobble": false, | |
| "camera_resolution": [ | |
| 224, | |
| 224 | |
| ], | |
| "initial_offset_xyz_m": [ | |
| 0.02060066239175759, | |
| 0.008022326661902189, | |
| -0.03693277134789034 | |
| ], | |
| "initial_wrist_xyz_deg": [ | |
| -11.687765786250793, | |
| -5.307953052406839, | |
| -2.272701939897292 | |
| ], | |
| "initial_position": [ | |
| 0.3976006507873535, | |
| 0.008022326976060867, | |
| 0.4833672046661377 | |
| ], | |
| "initial_fingers": [ | |
| 0.4781806170940399, | |
| 0.2792742848396301, | |
| 0.3061935603618622, | |
| 0.3726874887943268, | |
| 0.0, | |
| -0.1527356654405594, | |
| 0.04154639318585396, | |
| 0.009576448239386082, | |
| -0.029122281819581985, | |
| 0.2788854241371155, | |
| 0.30799269676208496, | |
| 0.26703670620918274, | |
| 0.2846015989780426, | |
| 0.36718305945396423, | |
| -0.0367099866271019, | |
| 0.04773679003119469, | |
| 0.19155704975128174, | |
| 0.2246069759130478, | |
| 0.15442200005054474, | |
| 0.30990201234817505, | |
| 0.19221104681491852, | |
| 0.1977139115333557 | |
| ], | |
| "staged_start": false, | |
| "motion_version": "task_controllers_lerobot_v4", | |
| "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, | |
| 0.25 | |
| ], | |
| "quiet_stages": [ | |
| "Align nozzle with measured canvas hit", | |
| "Align index pad with the actual button" | |
| ], | |
| "ramp_m": [ | |
| 0.14, | |
| 0.24 | |
| ], | |
| "process": "ornstein-uhlenbeck, stationary start", | |
| "label": "clean command" | |
| }, | |
| "controller_version": "one_wall_wrap_grasp_direct_reach_open_hand_v11", | |
| "rng_entropy": [ | |
| 25000, | |
| 90371 | |
| ], | |
| "family": "rising_diagonal", | |
| "grasp_yaw_deg": 20.0, | |
| "grasp_sampler": "one", | |
| "stage_variation": { | |
| "spray can approach": { | |
| "family": 5, | |
| "route": "shallow right", | |
| "bend_m": [ | |
| 0.0, | |
| -0.0, | |
| -0.0 | |
| ], | |
| "crossing_m": [ | |
| -0.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "wrist_excursion_deg": [ | |
| 0.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| "fade_end": 0.7, | |
| "position_gp_amplitude_m": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "rotation_gp_amplitude_deg": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "gp_length_scale": 0.32038424840767704 | |
| }, | |
| "spray can carry": { | |
| "family": 7, | |
| "route": "broad rear arc", | |
| "bend_m": [ | |
| -0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "crossing_m": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "wrist_excursion_deg": [ | |
| 0.0, | |
| -0.0, | |
| 0.0 | |
| ], | |
| "fade_end": 0.9, | |
| "position_gp_amplitude_m": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "rotation_gp_amplitude_deg": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "gp_length_scale": 0.33874909509130474 | |
| } | |
| }, | |
| "approach_preflight": [ | |
| { | |
| "lift_m": 0.0, | |
| "backoff_m": 0.0, | |
| "entry_fraction": 0.6576754915861196, | |
| "chord_blend": 0.6, | |
| "minimum_can_clearance_m": 0.008479983874422836, | |
| "violations": 0, | |
| "first": [] | |
| } | |
| ], | |
| "fitted_contact_joint_pose": [ | |
| 1.437734803174474, | |
| -0.133327, | |
| 1.11213924802397, | |
| 1.0269561330918282, | |
| 6.2005458716974955e-21, | |
| -0.34909999999999997, | |
| -0.287818, | |
| 0.25109224451489864, | |
| 0.24603967715017167, | |
| 1.0254540659146945, | |
| 0.49668544180957597, | |
| 1.354326, | |
| 0.6498451152684154, | |
| 0.8631123692287905, | |
| 0.18281468455820357, | |
| -0.34909999999999997, | |
| 0.896823, | |
| 0.7917309406049852, | |
| 0.7652758380928785, | |
| 0.9468627190573209, | |
| 1.2773599730751388, | |
| 0.8655661963760802 | |
| ], | |
| "final_joint_targets": [ | |
| 1.538642998504497, | |
| -0.143851, | |
| 1.2599847132759547, | |
| 1.1917163117682699, | |
| 4.067322406552197e-08, | |
| -0.34909999999999997, | |
| -0.298462, | |
| 0.3058019709996914, | |
| 0.2751794951604767, | |
| 1.1305228026891718, | |
| 0.5819035724617448, | |
| 1.362696, | |
| 0.9331743128036019, | |
| 1.3119303035258225, | |
| 0.2156392587455011, | |
| -0.34909999999999997, | |
| 0.900288, | |
| 0.9475281398434501, | |
| 1.0033039711588287, | |
| 1.2851846310457125, | |
| 1.241816001225237, | |
| 1.028657728894524 | |
| ], | |
| "contact_reference": "offline wall-wrap refit of CONTACT_REFERENCE (runs/spray_one_grasp_20260926/fit_grasp2.py): hand 14 mm lower on the can, middle/ring/pinky/thumb pads on the cylinder wall (z 0.031/0.012/-0.006/0.026), index hover unchanged", | |
| "calibrated_contact_seed": 3002, | |
| "wrist_clearance_refit_m": 0.0015861562634272384, | |
| "wrist_clearance_roll_deg": 4.0, | |
| "minimum_full_hand_z_m": -0.0020000000000000018, | |
| "clearance_pad_error_m": { | |
| "thumb": 1.355883271783742e-06, | |
| "thumb_command": 1.0957140242445556e-06, | |
| "middle": 1.525730020782737e-07, | |
| "middle_command": 1.324219120389109e-07, | |
| "ring": 1.393849759181746e-07, | |
| "ring_command": 2.0092185528596646e-07, | |
| "pinky": 1.5575741828334673e-07, | |
| "pinky_command": 2.411872051103593e-07 | |
| }, | |
| "wrist_command_bias_local_m": [ | |
| 0.0006420715690471404, | |
| -0.008113264329625171, | |
| -0.003781919680345558 | |
| ], | |
| "wrist_command_bias_rotation_xyzw": [ | |
| 0.006396948820141489, | |
| 0.001634695749814688, | |
| 0.0045641579210990435, | |
| 0.9999677871202 | |
| ], | |
| "initial_joint_targets": [ | |
| 0.5181806087493896, | |
| 0.31927427649497986, | |
| 0.3461935520172119, | |
| 0.4126874804496765, | |
| 0.03999999910593033, | |
| -0.1527356654405594, | |
| 0.04154639318585396, | |
| 0.009576448239386082, | |
| -0.029122281819581985, | |
| 0.3188854157924652, | |
| 0.3479926884174347, | |
| 0.30703669786453247, | |
| 0.32460159063339233, | |
| 0.40718305110931396, | |
| -0.0367099866271019, | |
| 0.04773679003119469, | |
| 0.2155570536851883, | |
| 0.24860697984695435, | |
| 0.1784220039844513, | |
| 0.3499020040035248, | |
| 0.23221105337142944, | |
| 0.22171391546726227 | |
| ], | |
| "preshape_joint_targets": [ | |
| 0.949999988079071, | |
| 0.11174599826335907, | |
| 0.20159755647182465, | |
| 0.19067460298538208, | |
| 6.507715699655137e-09, | |
| -0.1527356654405594, | |
| 0.04154639318585396, | |
| 0.30580195784568787, | |
| 0.27517950534820557, | |
| 0.18088364601135254, | |
| 0.12179744243621826, | |
| 0.10746284574270248, | |
| 0.14930789172649384, | |
| 0.2099088430404663, | |
| 0.21563926339149475, | |
| 0.04773679003119469, | |
| 0.07544496655464172, | |
| 0.15160450339317322, | |
| 0.16052863001823425, | |
| 0.20562954246997833, | |
| 0.0812738686800003, | |
| 0.16458523273468018 | |
| ], | |
| "digit_close_delays": [ | |
| -0.010000000000000002, | |
| -0.010000000000000002, | |
| -0.010000000000000002, | |
| -0.010000000000000002, | |
| -0.010000000000000002 | |
| ], | |
| "digit_close_durations": [ | |
| 0.3, | |
| 0.3, | |
| 0.3, | |
| 0.3, | |
| 0.3 | |
| ], | |
| "close_start": 0.565, | |
| "shape_distance_m": 0.245, | |
| "close_distance_m": 0.046, | |
| "finger_gp_length_scale": 0.385, | |
| "initial_wrist_angles_deg": [ | |
| -11.687765786250793, | |
| -5.307953052406839, | |
| -2.272701939897292 | |
| ], | |
| "initial_rotation_xyzw": [ | |
| -0.0606568350303512, | |
| 0.6686138582457509, | |
| -0.08186116377656796, | |
| 0.7365969093004516 | |
| ], | |
| "rotation_near_m": 0.05624805214015611, | |
| "rotation_far_m": 0.30524911080827316, | |
| "rotation_distance_blend": 0.7151176161266011, | |
| "rotation_window": [ | |
| 0.27233497349105507, | |
| 0.6539723859384498 | |
| ], | |
| "reach_n": 122, | |
| "separate_vertical_lift": false, | |
| "pregrasp_position": [ | |
| 0.1939341032446586, | |
| -0.23287083303774042, | |
| 0.0531272765931404 | |
| ], | |
| "reach_fraction": 0.6576754915861196, | |
| "reach_position_gp_length_scale": 0.31856614024616714, | |
| "reach_rotation_gp_length_scale": 0.22077275735717816, | |
| "paint_path": { | |
| "scan_axis": "horizontal", | |
| "points": [ | |
| [ | |
| 0.5599085450172424, | |
| 0.016902061283588413, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5615491700172425, | |
| 0.016902061283588413, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5640101075172425, | |
| 0.016902061283588413, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.6107679200172424, | |
| -0.011715126216411603, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5615491700172425, | |
| -0.011715126216411603, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5131507325172424, | |
| -0.011715126216411603, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5057679200172425, | |
| -0.040332313716411605, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5615491700172425, | |
| -0.040332313716411605, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.6181507325172424, | |
| -0.040332313716411605, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.6107679200172424, | |
| -0.0681760637164116, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5615491700172425, | |
| -0.0681760637164116, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5131507325172424, | |
| -0.0681760637164116, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5599085450172424, | |
| -0.09679325121641158, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5615491700172425, | |
| -0.09679325121641158, | |
| -0.004499999888241291 | |
| ], | |
| [ | |
| 0.5640101075172425, | |
| -0.09679325121641158, | |
| -0.004499999888241291 | |
| ] | |
| ], | |
| "rows": 5, | |
| "route_length_m": 0.48382047072880185, | |
| "inside_margin_m": 0.0185, | |
| "required_coverage": 0.9 | |
| }, | |
| "carry_steps": 110, | |
| "carry_tilt_deg": 68.00761176159112, | |
| "carry_standoff_m": 0.24319957994569089, | |
| "carry_heading_rad": 0.9286210373380435, | |
| "carry_rotation_window": [ | |
| 0.11961515266218918, | |
| 0.7288102184647427 | |
| ], | |
| "departure_direction_xyz": [ | |
| -0.03478019529246685, | |
| 0.016845162840090522, | |
| 0.1934802991564301 | |
| ], | |
| "carry_control_points": [ | |
| [ | |
| 0.4145413642326632, | |
| -0.31997439652512394, | |
| 0.06984052951198545 | |
| ], | |
| [ | |
| 0.37976116894019635, | |
| -0.3031292336850334, | |
| 0.26332082866841555 | |
| ], | |
| [ | |
| 0.543083623742626, | |
| -0.15253699525883097, | |
| 0.2280816770651416 | |
| ], | |
| [ | |
| 0.46309377760750525, | |
| -0.11254147936158215, | |
| 0.2013344760916379 | |
| ] | |
| ], | |
| "departure_rate": 0.34362644170249695, | |
| "carry_path_samples": 1, | |
| "carry_position_gp_length_scale": 0.3313742397538855, | |
| "carry_rotation_gp_length_scale": 0.43564047616529233, | |
| "target_xyz": [ | |
| 0.5599085450172424, | |
| 0.016902061283588413, | |
| -0.004499999888241291 | |
| ], | |
| "palm_seating_translation_m": [ | |
| 0.008, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "events": [ | |
| { | |
| "tick": 0, | |
| "kind": "reset", | |
| "scene_seed": 5000, | |
| "style": 25000 | |
| }, | |
| { | |
| "tick": 0, | |
| "kind": "approach_preflight", | |
| "candidates": [ | |
| { | |
| "lift_m": 0.0, | |
| "backoff_m": 0.0, | |
| "entry_fraction": 0.6576754915861196, | |
| "chord_blend": 0.6, | |
| "minimum_can_clearance_m": 0.008479983874422836, | |
| "violations": 0, | |
| "first": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "tick": 0, | |
| "kind": "initial_wrist_pose", | |
| "family": "rising_diagonal", | |
| "start_tick": 0, | |
| "position": [ | |
| 0.3976006507873535, | |
| 0.008022326976060867, | |
| 0.4833672046661377 | |
| ], | |
| "controller_version": "one_wall_wrap_grasp_direct_reach_open_hand_v11" | |
| }, | |
| { | |
| "tick": 125, | |
| "kind": "grasp_contact_order", | |
| "first_contact_ticks": { | |
| "thumb": 115, | |
| "ring": 116, | |
| "middle": 117, | |
| "pinky": 117 | |
| }, | |
| "max_capture_correction_m": 0.010938359294256893, | |
| "contacts": { | |
| "thumb": true, | |
| "index": false, | |
| "middle": true, | |
| "ring": true, | |
| "pinky": true, | |
| "palm": false, | |
| "button_links": [] | |
| }, | |
| "reach_progress": 1.0, | |
| "hand_gap_m": 0.010937411484298177, | |
| "commanded_gap_m": 0.0, | |
| "orientation_error_rad": 0.05973923540048975, | |
| "palm_capture_bias_m": 0.0028 | |
| }, | |
| { | |
| "tick": 125, | |
| "kind": "retained_grasp_yaw", | |
| "requested_deg": 20.0, | |
| "actual_deg": 35.64659414592192 | |
| }, | |
| { | |
| "tick": 125, | |
| "kind": "loaded_support_anchors", | |
| "anchors": { | |
| "thumb": { | |
| "link": "right_thumb_MC", | |
| "local": [ | |
| 0.04906471806303774, | |
| 0.002653897159402641, | |
| 0.023273562701191006 | |
| ], | |
| "can_local": [ | |
| 0.02836927115004457, | |
| 0.017701979227226636, | |
| 0.027819014836289978 | |
| ], | |
| "initial_force_n": 35.65201187133789 | |
| }, | |
| "middle": { | |
| "link": "right_middle_DP", | |
| "local": [ | |
| 0.021348723488675975, | |
| 0.004454838407412883, | |
| -0.0025294951719012073 | |
| ], | |
| "can_local": [ | |
| -0.016212424835138774, | |
| -0.023797153937503358, | |
| 0.0382835875068994 | |
| ], | |
| "initial_force_n": 15.893013954162598 | |
| }, | |
| "ring": { | |
| "link": "right_ring_DP", | |
| "local": [ | |
| 0.021585242237694337, | |
| 0.0034815548841115084, | |
| 0.0016978785041625443 | |
| ], | |
| "can_local": [ | |
| -0.019579676797414115, | |
| -0.02441081213428812, | |
| 0.01669360862376704 | |
| ], | |
| "initial_force_n": 17.594072341918945 | |
| }, | |
| "pinky": { | |
| "link": "right_pinky_DP", | |
| "local": [ | |
| 0.023968835700461318, | |
| 0.003488967386845576, | |
| 0.0019344416876800317 | |
| ], | |
| "can_local": [ | |
| -0.020905496296130557, | |
| -0.02517800883642733, | |
| -0.0018647232956324053 | |
| ], | |
| "initial_force_n": 13.955860137939453 | |
| } | |
| } | |
| }, | |
| { | |
| "tick": 152, | |
| "kind": "transport_clearance", | |
| "clearance_m": 0.041293612629175185, | |
| "can_displacement": [ | |
| -0.006308258096341168, | |
| 0.021572921572426185, | |
| 0.053690685380878775 | |
| ] | |
| }, | |
| { | |
| "tick": 235, | |
| "kind": "varied_carry", | |
| "max_in_hand_slip_m": 0.01298475934051392, | |
| "steps": 110, | |
| "rotation_window": [ | |
| 0.11961515266218918, | |
| 0.7288102184647427 | |
| ], | |
| "target_xyz": [ | |
| 0.5599085450172424, | |
| 0.016902061283588413, | |
| -0.004499999888241291 | |
| ], | |
| "adaptive_preload_gain": 0.9153966117094933 | |
| }, | |
| { | |
| "tick": 249, | |
| "kind": "measured_regrasp_check", | |
| "refinement": 0, | |
| "index_error_m": 0.00019447181915545743 | |
| }, | |
| { | |
| "tick": 263, | |
| "kind": "index_alignment", | |
| "offset": -0.004, | |
| "target": [ | |
| 0.05869393737743675, | |
| 0.03108080745953337, | |
| 0.12488328842783668 | |
| ], | |
| "pad_error_m": 0.00020561832756962919, | |
| "joint_target": [ | |
| 0.5676778566298728, | |
| -0.033726454143629576, | |
| 1.7452999999999999, | |
| 0.30401563975455437 | |
| ] | |
| }, | |
| { | |
| "tick": 263, | |
| "kind": "button_contact_check", | |
| "contacts": { | |
| "thumb": true, | |
| "index": false, | |
| "middle": true, | |
| "ring": true, | |
| "pinky": true, | |
| "palm": false, | |
| "button_links": [ | |
| 25 | |
| ] | |
| }, | |
| "index_links": [ | |
| 10, | |
| 15, | |
| 20, | |
| 25 | |
| ] | |
| }, | |
| { | |
| "tick": 263, | |
| "kind": "painting_started", | |
| "native_success": false, | |
| "coverage": 0.09459847956895828, | |
| "outside": 0.02246745117008686 | |
| }, | |
| { | |
| "tick": 271, | |
| "kind": "painting_pressure_reference", | |
| "head_q_m": 0.008713221177458763, | |
| "press_depth_m": -0.004 | |
| }, | |
| { | |
| "tick": 448, | |
| "kind": "painting_finished", | |
| "touchup_steps": 0, | |
| "native_success": true, | |
| "coverage": 0.9019537568092346, | |
| "outside": 0.06941310316324234 | |
| }, | |
| { | |
| "tick": 476, | |
| "kind": "button_released", | |
| "press": 0.17043545842170715, | |
| "contacts": { | |
| "thumb": true, | |
| "index": false, | |
| "middle": true, | |
| "ring": true, | |
| "pinky": true, | |
| "palm": false, | |
| "button_links": [] | |
| } | |
| } | |
| ], | |
| "final_other": { | |
| "can_pos": [ | |
| 0.41191110014915466, | |
| -0.1744287610054016, | |
| 0.18311762809753418 | |
| ], | |
| "can_quat": [ | |
| 0.39295682311058044, | |
| 0.2588309645652771, | |
| 0.4770820736885071, | |
| 0.7422829866409302 | |
| ], | |
| "can_vel": [ | |
| 0.009245658293366432, | |
| 0.012076633051037788, | |
| -0.015460789203643799 | |
| ], | |
| "head_q": [ | |
| 0.0010737433331087232 | |
| ], | |
| "press_frac": [ | |
| 0.17043545842170715 | |
| ], | |
| "nozzle_pos": [ | |
| 0.469120591878891, | |
| -0.1362859308719635, | |
| 0.20511601865291595 | |
| ], | |
| "nozzle_dir": [ | |
| 0.33640310168266296, | |
| 0.23595499992370605, | |
| -0.9116786122322083 | |
| ], | |
| "spray_active": [ | |
| 0.0 | |
| ], | |
| "paint_debug_spheres": [ | |
| 0.0 | |
| ], | |
| "spray_hit_xy": [ | |
| 0.5434460639953613, | |
| -0.07808411121368408 | |
| ], | |
| "paint_coverage": [ | |
| 0.1383005827665329 | |
| ], | |
| "paper_pos": [ | |
| 0.5619593262672424, | |
| -0.03994559496641159, | |
| -0.004999999888241291 | |
| ], | |
| "paper_quat": [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "stencil_id": [ | |
| 0.0 | |
| ], | |
| "stencil_center_xy": [ | |
| 0.5619593262672424, | |
| -0.03994559496641159 | |
| ], | |
| "stencil_size": [ | |
| 0.15000000596046448 | |
| ], | |
| "stencil_coverage": [ | |
| 0.9178997278213501 | |
| ], | |
| "paint_outside_frac": [ | |
| 0.06903080642223358 | |
| ], | |
| "action": [ | |
| -0.05995085462927818, | |
| -0.203744575381279, | |
| -0.23659363389015198, | |
| 0.9078173637390137, | |
| 0.41569623351097107, | |
| 0.03976290300488472, | |
| 0.03851177915930748, | |
| 1.5940757989883423, | |
| 0.06000000238418579, | |
| 1.281699538230896, | |
| 1.2454897165298462, | |
| 0.00967545248568058, | |
| -0.33853477239608765, | |
| -0.03372645378112793, | |
| 0.3490999937057495, | |
| 0.3490999937057495, | |
| 1.1460906267166138, | |
| 0.7885356545448303, | |
| 0.20000004768371582, | |
| 1.3777934312820435, | |
| 1.745300054550171, | |
| 0.3077884316444397, | |
| -0.3380795419216156, | |
| 0.12000000476837158, | |
| 1.268536925315857, | |
| 1.3671751022338867, | |
| 1.745300054550171, | |
| 1.3177040815353394, | |
| 1.314454436302185 | |
| ], | |
| "last_action": [ | |
| -0.06102854758501053, | |
| -0.20335006713867188, | |
| -0.235308438539505, | |
| 0.909942090511322, | |
| 0.4120052456855774, | |
| 0.03789163753390312, | |
| 0.028658760711550713, | |
| 1.5940757989883423, | |
| 0.06021904945373535, | |
| 1.281699538230896, | |
| 1.2454897165298462, | |
| 0.00967545248568058, | |
| -0.33853477239608765, | |
| -0.03372645378112793, | |
| 0.3490999937057495, | |
| 0.3490999937057495, | |
| 1.1460906267166138, | |
| 0.7885356545448303, | |
| 0.20066678524017334, | |
| 1.3777934312820435, | |
| 1.745300054550171, | |
| 0.3077884316444397, | |
| -0.3380795419216156, | |
| 0.1200793981552124, | |
| 1.268536925315857, | |
| 1.3671751022338867, | |
| 1.745300054550171, | |
| 1.3177040815353394, | |
| 1.314454436302185 | |
| ] | |
| }, | |
| "human_visual_review": "unrated", | |
| "motion_quality": { | |
| "frames": 476, | |
| "seconds": 23.8, | |
| "backward_fraction": 0.0, | |
| "minimum_forward_x": 0.44593707574638874, | |
| "command_speed_max_m_s": 0.24088535415152115, | |
| "command_acceleration_p95_m_s2": 0.34940492222020025, | |
| "command_jerk_p95_m_s3": 6.888437820695122, | |
| "finger_range_rad": [ | |
| 1.0995540618896484, | |
| 0.7115288525819778, | |
| 1.1613152623176575, | |
| 1.1202629506587982, | |
| 0.039999981526259276, | |
| 0.19636432826519012, | |
| 0.3400083966553211, | |
| 0.33952354546636343, | |
| 0.3782222755253315, | |
| 1.0226963311433792, | |
| 0.6660380437970161, | |
| 1.637219451367855, | |
| 1.2279429286718369, | |
| 1.5347805619239807, | |
| 0.3444984182715416, | |
| 0.3968367837369442, | |
| 0.8244093134999275, | |
| 1.1166321635246277, | |
| 1.206591084599495, | |
| 1.539223924279213, | |
| 1.2365102916955948, | |
| 1.1496923714876175 | |
| ], | |
| "phases": { | |
| "Continuous reach and grasp": { | |
| "seconds": 6.25, | |
| "backward_fraction": 0.0, | |
| "minimum_forward_x": 0.44593707574638874, | |
| "mean_palm_x": 0.5940164580385412 | |
| }, | |
| "Continuous grasp-to-paint transfer": { | |
| "seconds": 5.5, | |
| "backward_fraction": 0.0, | |
| "minimum_forward_x": 0.5289323741305231, | |
| "mean_palm_x": 0.3874575951482262 | |
| }, | |
| "Align nozzle with measured canvas hit": { | |
| "seconds": 1.2, | |
| "backward_fraction": 0.0, | |
| "minimum_forward_x": 0.9999466990815303, | |
| "mean_palm_x": -0.0023562046058516147 | |
| }, | |
| "Align index pad with the actual button": { | |
| "seconds": 0.6, | |
| "backward_fraction": 0.0, | |
| "minimum_forward_x": 0.9999939036690872, | |
| "mean_palm_x": -0.002001368178644542 | |
| }, | |
| "Paint smooth overlapping passes inside the stencil": { | |
| "seconds": 8.85, | |
| "backward_fraction": 0.0, | |
| "minimum_forward_x": 0.998602049194601, | |
| "mean_palm_x": -0.0021300980113231798 | |
| }, | |
| "Release the index and stop spraying": { | |
| "seconds": 1.4, | |
| "backward_fraction": 0.0, | |
| "minimum_forward_x": 0.9987300012215122, | |
| "mean_palm_x": 0.0036362090509516865 | |
| } | |
| }, | |
| "human_visual_review": "unrated" | |
| }, | |
| "lerobot_episode_index": 0, | |
| "merged_from": { | |
| "shard": "run-LkABPSuU", | |
| "shard_order": 0, | |
| "episode_index": 0 | |
| } | |
| } |