droid-mcap-workshop / samples.json
dgural's picture
Upload samples.json with huggingface_hub
4cb2adc verified
Raw History Blame Contribute Delete
17.8 kB
{"samples": [{"_id": {"$oid": "6aad8ea70e480b0b926d1c7f"}, "filepath": "data/AUTOLab+0d4edc83+2023-10-21-19h-40m-44s.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9993579664515824, "droid_camera_id": "ext1/image_rgb", "episode_id": "AUTOLab+0d4edc83+2023-10-21-19h-40m-44s", "lab": "AUTOLab", "robot_id": "0d4edc83", "recording_datetime": "2023-10-21-19h-40m-44s", "current_task": "put brick in drawer shelf and close drawer", "user": "Lawrence Chen", "building": "Autolab", "robot_serial": "FR3-295341-1326595", "split": "success", "n_clips_approx": 7, "n_cameras": 3, "n_annotated_frames": 77, "has_wrist_depth": true, "is_static_arm": false, "success": true, "duration_s": 7.1, "peak_joint_speed": 1.2182042562869655, "mean_joint_speed": 0.5266576586779842, "peak_joint_torque": 10.058918359180756, "mean_joint_torque": 3.820394668142677, "peak_ee_linear_speed": 0.31122255023398093, "mean_ee_linear_speed": 0.12669524626017428, "total_ee_displacement_m": 0.8945080698165501, "workspace_extent_x": 0.22650066018104553, "workspace_extent_y": 0.14388739690184593, "workspace_extent_z": 0.2170875370502472, "gripper_open_frac": 0.5454545454545454, "mean_visible_points": 76491.82352941176, "scene_centroid_x": 0.6327564716339111, "scene_centroid_y": -0.0953514352440834, "scene_centroid_z": 0.11709214001893997, "scene_extent_x": 0.8861083984375, "scene_extent_y": 1.60107421875, "scene_extent_z": 1.47314453125, "task_normalized": "put brick in drawer shelf and close drawer", "task_type": "container-transfer", "_dataset_id": {"$oid": "6aad8ea70e480b0b926d1c7e"}, "created_at": {"$date": "2026-09-18T19:19:03.919Z"}, "last_modified_at": {"$date": "2026-09-18T21:03:03.182Z"}, "metadata": {"_cls": "Metadata", "size_bytes": 59662582, "mime_type": "application/octet-stream"}},{"_id": {"$oid": "6aad8ea70e480b0b926d1c80"}, "filepath": "data/AUTOLab+0d4edc83+2023-10-21-19h-24m-27s.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995801430048182, "droid_camera_id": "ext1/image_rgb", "episode_id": "AUTOLab+0d4edc83+2023-10-21-19h-24m-27s", "lab": "AUTOLab", "robot_id": "0d4edc83", "recording_datetime": "2023-10-21-19h-24m-27s", "current_task": "Put brick in drawer shelf and close drawer", "user": "Lawrence Chen", "building": "Autolab", "robot_serial": "FR3-295341-1326595", "split": "success", "n_clips_approx": 13, "n_cameras": 3, "n_annotated_frames": 143, "has_wrist_depth": true, "is_static_arm": false, "success": true, "duration_s": 10.617, "peak_joint_speed": 2.079289709879339, "mean_joint_speed": 0.8256976342537716, "peak_joint_torque": 6.394049154640864, "mean_joint_torque": 3.5457536621194494, "peak_ee_linear_speed": 0.3265074300324111, "mean_ee_linear_speed": 0.14068689007294635, "total_ee_displacement_m": 1.4881928579508417, "workspace_extent_x": 0.3350967466831207, "workspace_extent_y": 0.2210727073252201, "workspace_extent_z": 0.3249301165342331, "gripper_open_frac": 0.5804195804195804, "mean_visible_points": 89068.1052631579, "scene_centroid_x": 0.670007050037384, "scene_centroid_y": -0.0710708275437355, "scene_centroid_z": 0.09054933488368988, "scene_extent_x": 0.8970947265625, "scene_extent_y": 1.6025390625, "scene_extent_z": 1.62060546875, "task_normalized": "put brick in drawer shelf and close drawer", "task_type": "container-transfer", "_dataset_id": {"$oid": "6aad8ea70e480b0b926d1c7e"}, "created_at": {"$date": "2026-09-18T19:19:03.922Z"}, "last_modified_at": {"$date": "2026-09-18T21:03:03.182Z"}, "metadata": {"_cls": "Metadata", "size_bytes": 98029851, "mime_type": "application/octet-stream"}},{"_id": {"$oid": "6aad8ea70e480b0b926d1c81"}, "filepath": "data/AUTOLab+44bb9c36+2023-11-25-10h-04m-12s.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992863170526628, "droid_camera_id": "ext1/image_rgb", "episode_id": "AUTOLab+44bb9c36+2023-11-25-10h-04m-12s", "lab": "AUTOLab", "robot_id": "44bb9c36", "recording_datetime": "2023-11-25-10h-04m-12s", "current_task": "Clump objects (cloth, rope, stuffed toy)", "user": "Charlotte Le", "building": "Autolab", "robot_serial": "FR3-295341-1326595", "split": "success", "n_clips_approx": 36, "n_cameras": 3, "n_annotated_frames": 396, "has_wrist_depth": true, "is_static_arm": false, "success": true, "duration_s": 39.269, "peak_joint_speed": 1.1341452446450189, "mean_joint_speed": 0.3038764996621998, "peak_joint_torque": 7.443927742075806, "mean_joint_torque": 3.1602145135935347, "peak_ee_linear_speed": 0.3349152331669128, "mean_ee_linear_speed": 0.10611564889569738, "total_ee_displacement_m": 3.9639763653628184, "workspace_extent_x": 0.4031223952770233, "workspace_extent_y": 0.46492908895015717, "workspace_extent_z": 0.3836863785982132, "gripper_open_frac": 0.32575757575757575, "mean_visible_points": 57677.360869565215, "scene_centroid_x": 0.4388788640499115, "scene_centroid_y": 0.04282596707344055, "scene_centroid_z": 0.06197747215628624, "scene_extent_x": 1.1824951171875, "scene_extent_y": 1.6025390625, "scene_extent_z": 1.65380859375, "task_normalized": "clump objects (cloth, rope, plush toy)", "task_type": "clump-unclump", "_dataset_id": {"$oid": "6aad8ea70e480b0b926d1c7e"}, "created_at": {"$date": "2026-09-18T19:19:03.925Z"}, "last_modified_at": {"$date": "2026-09-18T21:03:03.182Z"}, "metadata": {"_cls": "Metadata", "size_bytes": 238349387, "mime_type": "application/octet-stream"}},{"_id": {"$oid": "6aad8ea70e480b0b926d1c82"}, "filepath": "data/AUTOLab+44bb9c36+2023-11-23-15h-35m-31s.mcap", "tags": ["Slip"], "_media_type": "multimodal", "_rand": 0.9991867615558361, "droid_camera_id": "ext1/image_rgb", "episode_id": "AUTOLab+44bb9c36+2023-11-23-15h-35m-31s", "lab": "AUTOLab", "robot_id": "44bb9c36", "recording_datetime": "2023-11-23-15h-35m-31s", "current_task": "Unhang cloth from chair.", "user": "Charlotte Le", "building": "Autolab", "robot_serial": "FR3-295341-1326595", "split": "failure", "n_clips_approx": 8, "n_cameras": 3, "n_annotated_frames": 88, "has_wrist_depth": true, "is_static_arm": false, "success": false, "duration_s": 6.334, "peak_joint_speed": 0.7660981403209581, "mean_joint_speed": 0.33803562638724927, "peak_joint_torque": 8.706133454399296, "mean_joint_torque": 3.6728920855173297, "peak_ee_linear_speed": 0.38758155451005893, "mean_ee_linear_speed": 0.11397810729050509, "total_ee_displacement_m": 0.7168217399980014, "workspace_extent_x": 0.12721982598304749, "workspace_extent_y": 0.2696579024195671, "workspace_extent_z": 0.29435041546821594, "gripper_open_frac": 0.1590909090909091, "mean_visible_points": 63652.239130434784, "scene_centroid_x": 0.47516417503356934, "scene_centroid_y": -0.08181564509868622, "scene_centroid_z": -0.12223569303750992, "scene_extent_x": 1.1844482421875, "scene_extent_y": 1.59814453125, "scene_extent_z": 1.57568359375, "task_normalized": "unhang cloth from chair", "task_type": "unhang-cloth", "_dataset_id": {"$oid": "6aad8ea70e480b0b926d1c7e"}, "created_at": {"$date": "2026-09-18T19:19:03.925Z"}, "last_modified_at": {"$date": "2026-09-18T21:01:59.843Z"}, "metadata": {"_cls": "Metadata", "size_bytes": 61480535, "mime_type": "application/octet-stream"}},{"_id": {"$oid": "6aad8ea70e480b0b926d1c83"}, "filepath": "data/AUTOLab+44bb9c36+2023-11-26-15h-53m-47s.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996507297355063, "droid_camera_id": "ext1/image_rgb", "episode_id": "AUTOLab+44bb9c36+2023-11-26-15h-53m-47s", "lab": "AUTOLab", "robot_id": "44bb9c36", "recording_datetime": "2023-11-26-15h-53m-47s", "current_task": "Fold cloth in half.", "user": "Charlotte Le", "building": "Autolab", "robot_serial": "FR3-295341-1326595", "split": "failure", "n_clips_approx": 7, "n_cameras": 3, "n_annotated_frames": 77, "has_wrist_depth": true, "is_static_arm": false, "success": false, "duration_s": 8.467, "peak_joint_speed": 1.44666034106602, "mean_joint_speed": 0.45763288527217105, "peak_joint_torque": 6.5957718996858175, "mean_joint_torque": 2.710420297498338, "peak_ee_linear_speed": 0.35409059135253057, "mean_ee_linear_speed": 0.10927154340689552, "total_ee_displacement_m": 0.8397709083615463, "workspace_extent_x": 0.29482176899909973, "workspace_extent_y": 0.08711880445480347, "workspace_extent_z": 0.42830315232276917, "gripper_open_frac": 0.4805194805194805, "mean_visible_points": 39328.96226415094, "scene_centroid_x": 0.5149270296096802, "scene_centroid_y": 0.0417366549372673, "scene_centroid_z": -0.10547994077205658, "scene_extent_x": 1.308837890625, "scene_extent_y": 1.60009765625, "scene_extent_z": 1.5595703125, "task_normalized": "fold cloth in half", "task_type": "fold-cloth", "_dataset_id": {"$oid": "6aad8ea70e480b0b926d1c7e"}, "created_at": {"$date": "2026-09-18T19:19:03.925Z"}, "last_modified_at": {"$date": "2026-09-18T21:01:59.843Z"}, "metadata": {"_cls": "Metadata", "size_bytes": 41159141, "mime_type": "application/octet-stream"}},{"_id": {"$oid": "6aad8ea70e480b0b926d1c84"}, "filepath": "data/AUTOLab+0d4edc83+2023-10-21-20h-27m-01s.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992003564222279, "droid_camera_id": "ext1/image_rgb", "episode_id": "AUTOLab+0d4edc83+2023-10-21-20h-27m-01s", "lab": "AUTOLab", "robot_id": "0d4edc83", "recording_datetime": "2023-10-21-20h-27m-01s", "current_task": "Do any three tasks consecutively.\n\nSuggested tasks:\n* put brick in drawer shelf and close drawer\n* put brick in drawer shelf and close drawer\n* put brick in drawer shelf and close drawer", "user": "Lawrence Chen", "building": "Autolab", "robot_serial": "FR3-295341-1326595", "split": "failure", "n_clips_approx": 1, "n_cameras": 3, "n_annotated_frames": 11, "has_wrist_depth": true, "is_static_arm": false, "success": false, "duration_s": 1.416, "peak_joint_speed": 1.3184953375839845, "mean_joint_speed": 0.7071268480670634, "peak_joint_torque": 5.635229262459821, "mean_joint_torque": 4.034847227264841, "peak_ee_linear_speed": 0.3329020778304989, "mean_ee_linear_speed": 0.18387057419688696, "total_ee_displacement_m": 0.2578370940551534, "workspace_extent_x": 0.07580146193504333, "workspace_extent_y": 0.08820163458585739, "workspace_extent_z": 0.22255758941173553, "gripper_open_frac": 1.0, "mean_visible_points": 68768.27272727272, "scene_centroid_x": 0.5844810009002686, "scene_centroid_y": -0.15100939571857452, "scene_centroid_z": 0.12879978120326996, "scene_extent_x": 0.9052734375, "scene_extent_y": 1.59912109375, "scene_extent_z": 1.5322265625, "task_normalized": "freeform multi-step", "task_type": "multi-step", "_dataset_id": {"$oid": "6aad8ea70e480b0b926d1c7e"}, "created_at": {"$date": "2026-09-18T19:19:03.926Z"}, "last_modified_at": {"$date": "2026-09-18T21:03:03.182Z"}, "metadata": {"_cls": "Metadata", "size_bytes": 13881023, "mime_type": "application/octet-stream"}},{"_id": {"$oid": "6aad8ea70e480b0b926d1c85"}, "filepath": "data/AUTOLab+44bb9c36+2023-11-24-16h-24m-13s.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992125140617545, "droid_camera_id": "ext1/image_rgb", "episode_id": "AUTOLab+44bb9c36+2023-11-24-16h-24m-13s", "lab": "AUTOLab", "robot_id": "44bb9c36", "recording_datetime": "2023-11-24-16h-24m-13s", "current_task": "Unclump and spread out objects (cloth, rope, plush toy)", "user": "Charlotte Le", "building": "Autolab", "robot_serial": "FR3-295341-1326595", "split": "failure", "n_clips_approx": 23, "n_cameras": 3, "n_annotated_frames": 253, "has_wrist_depth": true, "is_static_arm": false, "success": false, "duration_s": 29.536, "peak_joint_speed": 1.022982992435726, "mean_joint_speed": 0.37835203247082616, "peak_joint_torque": 10.256961744584734, "mean_joint_torque": 3.692482664990622, "peak_ee_linear_speed": 16.110426523767792, "mean_ee_linear_speed": 0.7455373628627172, "total_ee_displacement_m": 5.12453300391713, "workspace_extent_x": 0.34110838174819946, "workspace_extent_y": 0.4204072207212448, "workspace_extent_z": 0.405905157327652, "gripper_open_frac": 0.3557312252964427, "mean_visible_points": 54007.34722222222, "scene_centroid_x": 0.47814658284187317, "scene_centroid_y": 0.055817149579524994, "scene_centroid_z": 0.02153412438929081, "scene_extent_x": 1.306884765625, "scene_extent_y": 1.599609375, "scene_extent_z": 1.728515625, "task_normalized": "unclump and spread out objects (cloth, rope, plush toy)", "task_type": "clump-unclump", "_dataset_id": {"$oid": "6aad8ea70e480b0b926d1c7e"}, "created_at": {"$date": "2026-09-18T19:19:03.926Z"}, "last_modified_at": {"$date": "2026-09-18T21:03:03.182Z"}, "metadata": {"_cls": "Metadata", "size_bytes": 166043350, "mime_type": "application/octet-stream"}},{"_id": {"$oid": "6aad8ea70e480b0b926d1c86"}, "filepath": "data/AUTOLab+44bb9c36+2023-11-26-15h-15m-00s.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9994018698038409, "droid_camera_id": "ext1/image_rgb", "episode_id": "AUTOLab+44bb9c36+2023-11-26-15h-15m-00s", "lab": "AUTOLab", "robot_id": "44bb9c36", "recording_datetime": "2023-11-26-15h-15m-00s", "current_task": "Fold cloth in half.", "user": "Charlotte Le", "building": "Autolab", "robot_serial": "FR3-295341-1326595", "split": "success", "n_clips_approx": 17, "n_cameras": 3, "n_annotated_frames": 187, "has_wrist_depth": true, "is_static_arm": false, "success": true, "duration_s": 16.901, "peak_joint_speed": 1.4199374321329643, "mean_joint_speed": 0.47959366288275096, "peak_joint_torque": 8.4997011607498, "mean_joint_torque": 3.2470718095455466, "peak_ee_linear_speed": 0.32376058697175725, "mean_ee_linear_speed": 0.11967859585529095, "total_ee_displacement_m": 1.9070950583275739, "workspace_extent_x": 0.3896068036556244, "workspace_extent_y": 0.3944120779633522, "workspace_extent_z": 0.32971079647541046, "gripper_open_frac": 0.47058823529411764, "mean_visible_points": 48323.92592592593, "scene_centroid_x": 0.5184024572372437, "scene_centroid_y": 0.04603152722120285, "scene_centroid_z": -0.053157396614551544, "scene_extent_x": 1.24169921875, "scene_extent_y": 1.6044921875, "scene_extent_z": 1.40771484375, "task_normalized": "fold cloth in half", "task_type": "fold-cloth", "_dataset_id": {"$oid": "6aad8ea70e480b0b926d1c7e"}, "created_at": {"$date": "2026-09-18T19:19:03.926Z"}, "last_modified_at": {"$date": "2026-09-18T21:01:59.843Z"}, "metadata": {"_cls": "Metadata", "size_bytes": 87417665, "mime_type": "application/octet-stream"}},{"_id": {"$oid": "6aad8ea70e480b0b926d1c87"}, "filepath": "data/AUTOLab+44bb9c36+2023-11-23-18h-36m-37s.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995980855644534, "droid_camera_id": "ext1/image_rgb", "episode_id": "AUTOLab+44bb9c36+2023-11-23-18h-36m-37s", "lab": "AUTOLab", "robot_id": "44bb9c36", "recording_datetime": "2023-11-23-18h-36m-37s", "current_task": "Unhang cloth from chair.", "user": "Charlotte Le", "building": "Autolab", "robot_serial": "FR3-295341-1326595", "split": "success", "n_clips_approx": 20, "n_cameras": 3, "n_annotated_frames": 220, "has_wrist_depth": true, "is_static_arm": false, "success": true, "duration_s": 16.167, "peak_joint_speed": 0.9964683932662064, "mean_joint_speed": 0.38680969735373333, "peak_joint_torque": 6.563229069509435, "mean_joint_torque": 3.594637287767904, "peak_ee_linear_speed": 0.33418144996713656, "mean_ee_linear_speed": 0.1298044067190506, "total_ee_displacement_m": 2.0586849713707553, "workspace_extent_x": 0.18996572494506836, "workspace_extent_y": 0.3823723644018173, "workspace_extent_z": 0.2860260605812073, "gripper_open_frac": 0.35909090909090907, "mean_visible_points": 53030.49107142857, "scene_centroid_x": 0.4597083628177643, "scene_centroid_y": 0.08964171260595322, "scene_centroid_z": 0.11860455572605133, "scene_extent_x": 1.238037109375, "scene_extent_y": 1.59521484375, "scene_extent_z": 1.8994140625, "task_normalized": "unhang cloth from chair", "task_type": "unhang-cloth", "_dataset_id": {"$oid": "6aad8ea70e480b0b926d1c7e"}, "created_at": {"$date": "2026-09-18T19:19:03.926Z"}, "last_modified_at": {"$date": "2026-09-18T21:01:59.843Z"}, "metadata": {"_cls": "Metadata", "size_bytes": 99136396, "mime_type": "application/octet-stream"}},{"_id": {"$oid": "6aad8ea70e480b0b926d1c88"}, "filepath": "data/AUTOLab+0d4edc83+2023-10-27-20h-43m-06s.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996645907429044, "droid_camera_id": "ext1/image_rgb", "episode_id": "AUTOLab+0d4edc83+2023-10-27-20h-43m-06s", "lab": "AUTOLab", "robot_id": "0d4edc83", "recording_datetime": "2023-10-27-20h-43m-06s", "current_task": "Move object into or out of container (ex: drawer, clothes hamper, plate, trashcan, washer)", "user": "Lawrence Chen", "building": "Autolab", "robot_serial": "FR3-295341-1326595", "split": "success", "n_clips_approx": 3, "n_cameras": 3, "n_annotated_frames": 33, "has_wrist_depth": true, "is_static_arm": false, "success": true, "duration_s": 2.834, "peak_joint_speed": 1.3200610544655704, "mean_joint_speed": 0.7355454758687384, "peak_joint_torque": 7.268144536252359, "mean_joint_torque": 3.221255837776776, "peak_ee_linear_speed": 0.2624248608857179, "mean_ee_linear_speed": 0.1406092058715498, "total_ee_displacement_m": 0.3978557659475278, "workspace_extent_x": 0.1965118646621704, "workspace_extent_y": 0.13310911506414413, "workspace_extent_z": 0.10397311300039291, "gripper_open_frac": 0.5454545454545454, "mean_visible_points": 87169.0, "scene_centroid_x": 0.6055664420127869, "scene_centroid_y": -0.03884872794151306, "scene_centroid_z": 0.11047186702489853, "scene_extent_x": 0.88250732421875, "scene_extent_y": 1.57080078125, "scene_extent_z": 1.4599609375, "task_normalized": "move object into or out of container (ex: drawer, clothes hamper, plate, trashcan, washer)", "task_type": "container-transfer", "_dataset_id": {"$oid": "6aad8ea70e480b0b926d1c7e"}, "created_at": {"$date": "2026-09-18T19:19:03.927Z"}, "last_modified_at": {"$date": "2026-09-18T21:03:03.182Z"}, "metadata": {"_cls": "Metadata", "size_bytes": 25834822, "mime_type": "application/octet-stream"}}]}