diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode745.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode745.json new file mode 100644 index 0000000000000000000000000000000000000000..4a6b3dda2e4e434f2e5768b549bcb79e0647ce3e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode745.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 745, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 125, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.38980695605278015, + "max_abs_articulated_22d": 0.38980695605278015, + "rms_24d": 0.032899826765060425, + "rms_articulated_22d": 0.03436274453997612 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode745.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode745.npy new file mode 100644 index 0000000000000000000000000000000000000000..b5ce60b6fcbd54d1bd8aa9ae970cdc7a27b28fcf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode745.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:349bd1bd88beb68f13ec8373449e1b634e08f6fa238649bcc308707c5bd86fc1 +size 12128 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode746.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode746.json new file mode 100644 index 0000000000000000000000000000000000000000..b07f5f3d0bd3a87f50aaf12b12bfe12889eb283e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode746.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 746, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 126, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.16227638721466064, + "max_abs_articulated_22d": 0.16227638721466064, + "rms_24d": 0.015892356634140015, + "rms_articulated_22d": 0.016599025577306747 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode746.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode746.npy new file mode 100644 index 0000000000000000000000000000000000000000..d1cb2d2927720539417ce33ac3572cd099e2d2de --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode746.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f784a957c56a43fb8befdba801ac13bf182566686983699c8ec987a52d3dc83e +size 12224 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode747.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode747.json new file mode 100644 index 0000000000000000000000000000000000000000..59c4a9169f3afe1555c6b27159c5a24ff076e8cb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode747.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 747, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 221, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1800318956375122, + "max_abs_articulated_22d": 0.1800318956375122, + "rms_24d": 0.02471841871738434, + "rms_articulated_22d": 0.025817545130848885 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode747.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode747.npy new file mode 100644 index 0000000000000000000000000000000000000000..2de0edfc6fb11d0541901e612ca977adb6241d2d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode747.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a32b6404625af422744313299c1821d84bbdd7387f53de04a9810c43ec6648b +size 21344 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode748.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode748.json new file mode 100644 index 0000000000000000000000000000000000000000..3200315279790d0244ae10520814c1c22570a610 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode748.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 748, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 149, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.10243922472000122, + "max_abs_articulated_22d": 0.10243922472000122, + "rms_24d": 0.01305187214165926, + "rms_articulated_22d": 0.013632236048579216 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode748.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode748.npy new file mode 100644 index 0000000000000000000000000000000000000000..a393e923510e45d75b4e4dd623f87a0ea42b84fc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode748.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34f5533297cb348f78f6cd3e7a8b1840e1655b71193c1b08c7d4f928ff41e4df +size 14432 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode749.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode749.json new file mode 100644 index 0000000000000000000000000000000000000000..b3414cedaeec92464cc70ed3a358f953fecbaadd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode749.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 749, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 109, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.10240471363067627, + "max_abs_articulated_22d": 0.10240471363067627, + "rms_24d": 0.01688603311777115, + "rms_articulated_22d": 0.017636887729167938 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode749.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode749.npy new file mode 100644 index 0000000000000000000000000000000000000000..286e797f2d6d5d859a567a77d2bbe20fe2b5f0ce --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode749.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5acc1f2637ce54b4de45135aa2f47cf5b66a8141a426206508721df19239c531 +size 10592 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode75.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode75.json new file mode 100644 index 0000000000000000000000000000000000000000..329947f880a68846a6c6bc677daf76ad6beccfa0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode75.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 75, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 208, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.28446316719055176, + "max_abs_articulated_22d": 0.28446316719055176, + "rms_24d": 0.025826092809438705, + "rms_articulated_22d": 0.026974473148584366 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode75.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode75.npy new file mode 100644 index 0000000000000000000000000000000000000000..29227bc3ead4bf94dec04b6f4faf77f8cc6a46d1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode75.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67634199c3764b92be9e784a5f417a0ccaf0e97012e7f7e8086366b3152b6c95 +size 20096 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode750.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode750.json new file mode 100644 index 0000000000000000000000000000000000000000..00b0dfdb333b7532700f3724f1de7441cc37990d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode750.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 750, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 149, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.22913029789924622, + "max_abs_articulated_22d": 0.22913029789924622, + "rms_24d": 0.01813524030148983, + "rms_articulated_22d": 0.018941640853881836 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode750.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode750.npy new file mode 100644 index 0000000000000000000000000000000000000000..fd7ca4ec7c24832799f9f07164f7356cdd2698d1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode750.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:925f6b240f22f03c9f6bcd661f9ad8db51d7cf4ea268cc9a97b572d86d79f5aa +size 14432 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode751.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode751.json new file mode 100644 index 0000000000000000000000000000000000000000..b4e6fab1abd0b4dcb108d90d75e0bb4c81608dc3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode751.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 751, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 102, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.12441420555114746, + "max_abs_articulated_22d": 0.12441420555114746, + "rms_24d": 0.016152994707226753, + "rms_articulated_22d": 0.016871253028512 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode751.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode751.npy new file mode 100644 index 0000000000000000000000000000000000000000..59ad7341b47b5c8d29cd42f5112c72eeec6d06e3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode751.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5915ac1cedf7d860114c80338f5b00db79fdbb870d26f9f3e9d2d9a3445da12c +size 9920 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode752.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode752.json new file mode 100644 index 0000000000000000000000000000000000000000..8c19fbadfa9a298ba9c7c7a09af1d73b9809ed83 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode752.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 752, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 315, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2656099796295166, + "max_abs_articulated_22d": 0.2656099796295166, + "rms_24d": 0.016864169389009476, + "rms_articulated_22d": 0.017614049836993217 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode752.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode752.npy new file mode 100644 index 0000000000000000000000000000000000000000..4d972c0a418a46c96b793ed2b068b19bfb3cc664 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode752.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0488b0d8594741f5e7a028f315c43cc3c637d35d75817d24421b43b2e87f568b +size 30368 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode753.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode753.json new file mode 100644 index 0000000000000000000000000000000000000000..b34a1344c62cce35f0eba203d188d9e2d5a20855 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode753.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 753, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 300, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.33076637983322144, + "max_abs_articulated_22d": 0.33076637983322144, + "rms_24d": 0.02377147413790226, + "rms_articulated_22d": 0.02482849359512329 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode753.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode753.npy new file mode 100644 index 0000000000000000000000000000000000000000..5b979dca26ea7497ea48f0de10b3ea59c7206f91 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode753.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:711819d6b76540f2c9b4601c28c88c695a1532c3449e7bf95323a51092996066 +size 28928 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode754.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode754.json new file mode 100644 index 0000000000000000000000000000000000000000..02625a519f88e8644e55cf19cf1e5f18c10d7c2c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode754.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 754, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 149, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3425656259059906, + "max_abs_articulated_22d": 0.3425656259059906, + "rms_24d": 0.043154217302799225, + "rms_articulated_22d": 0.04507311061024666 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode754.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode754.npy new file mode 100644 index 0000000000000000000000000000000000000000..5d855755a58dc51f5609d923a626ebb54d69b745 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode754.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:718658e81240e723b6f9623890ad534ebd618b562272a4a43f2ce8d107609e65 +size 14432 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode755.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode755.json new file mode 100644 index 0000000000000000000000000000000000000000..89bbab8dd00d1bd3e3bb675d5628fb983c9a0c2c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode755.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 755, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 104, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1727944016456604, + "max_abs_articulated_22d": 0.1727944016456604, + "rms_24d": 0.02749152109026909, + "rms_articulated_22d": 0.028713956475257874 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode755.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode755.npy new file mode 100644 index 0000000000000000000000000000000000000000..728ea5bee0127f21cebfbb54eb00b2f503a18c98 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode755.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1393bd235b755f328d7cefcdceb4ded9a08119779bd0abc102e5e473f645742e +size 10112 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode756.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode756.json new file mode 100644 index 0000000000000000000000000000000000000000..f2b1c86430ab40f076ec76090d8e6601e7d1b59c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode756.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 756, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 228, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.29678893089294434, + "max_abs_articulated_22d": 0.29678893089294434, + "rms_24d": 0.03477209433913231, + "rms_articulated_22d": 0.03631826862692833 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode756.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode756.npy new file mode 100644 index 0000000000000000000000000000000000000000..49748db2c2f69622bcc9fa0e06027f386d0809c8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode756.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1934e720b8b76978cb6eb7904c4559eefef35dd52be17300e30289d6838a8f8 +size 22016 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode757.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode757.json new file mode 100644 index 0000000000000000000000000000000000000000..20fc4616fbd9a619938e7acf1707821c2347d896 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode757.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 757, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 129, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.16583600640296936, + "max_abs_articulated_22d": 0.16583600640296936, + "rms_24d": 0.025095593184232712, + "rms_articulated_22d": 0.026211492717266083 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode757.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode757.npy new file mode 100644 index 0000000000000000000000000000000000000000..3b6d8b9fa62cb4400c78c9a8db4fa7e0cf3bc7e8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode757.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af23a686b0de76d5b925e6b1dfd0832290062a11f69af1528e27a549100d9668 +size 12512 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode758.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode758.json new file mode 100644 index 0000000000000000000000000000000000000000..94b85ad191246be44e9a51851c28429b4454486b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode758.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 758, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 173, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.35975536704063416, + "max_abs_articulated_22d": 0.35975536704063416, + "rms_24d": 0.04086111858487129, + "rms_articulated_22d": 0.042678046971559525 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode758.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode758.npy new file mode 100644 index 0000000000000000000000000000000000000000..333566394356d3b80d0024441ed131930db27c7f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode758.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41ae749001bc0311fd8e3b6d60df541a79638c1f075a75f7e82201c0dc264469 +size 16736 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode759.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode759.json new file mode 100644 index 0000000000000000000000000000000000000000..ff0791b11982fb6890b642b2a897bfa316112db0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode759.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 759, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 214, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.23441463708877563, + "max_abs_articulated_22d": 0.23441463708877563, + "rms_24d": 0.01954142190515995, + "rms_articulated_22d": 0.02041034959256649 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode759.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode759.npy new file mode 100644 index 0000000000000000000000000000000000000000..fdf8cb3eda8dddc10f9914be4898e00555c3c18b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode759.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d52e4bfb56b5dd0443194ede618366ba9f0882ec50b8f1c93067ee0de8c06ff9 +size 20672 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode76.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode76.json new file mode 100644 index 0000000000000000000000000000000000000000..1be5cefef7eeb6746a0c62c4db46e61d071745fb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode76.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 76, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 542, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.26714447140693665, + "max_abs_articulated_22d": 0.26714447140693665, + "rms_24d": 0.024246493354439735, + "rms_articulated_22d": 0.025324635207653046 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode76.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode76.npy new file mode 100644 index 0000000000000000000000000000000000000000..877383193eafd06da437af92f34361f47b4e8425 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode76.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd23c7c0be73cb3f36ffad216988157ad4188e880a5f552327b4f018273ae5cf +size 52160 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode760.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode760.json new file mode 100644 index 0000000000000000000000000000000000000000..40ce2b7027417d8691a154291d4ed23258744842 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode760.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 760, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 353, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2480200231075287, + "max_abs_articulated_22d": 0.2480200231075287, + "rms_24d": 0.028944825753569603, + "rms_articulated_22d": 0.030231885612010956 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode760.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode760.npy new file mode 100644 index 0000000000000000000000000000000000000000..2d9f3a577486fd0ff9f8706ddeefe5d2b76d217b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode760.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a27e3e62724f04f58f2edb5399f44a93f85ffce2f4c90c99401f221ed76511f3 +size 34016 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode761.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode761.json new file mode 100644 index 0000000000000000000000000000000000000000..285fa497829ec1a21e57dfa79e2dd6151bd72164 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode761.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 761, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 198, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.44632500410079956, + "max_abs_articulated_22d": 0.44632500410079956, + "rms_24d": 0.04087159037590027, + "rms_articulated_22d": 0.04268898442387581 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode761.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode761.npy new file mode 100644 index 0000000000000000000000000000000000000000..baff676e431157451f62d589539656365b6140d7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode761.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa8c7fe23d0e8cf316a884dc1c66576e4ef0977ded55f0e425a8257f0fce5e7c +size 19136 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode762.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode762.json new file mode 100644 index 0000000000000000000000000000000000000000..aa27ff20ec87e25e7924c998252b454e9d549c96 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode762.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 762, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 137, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2637200951576233, + "max_abs_articulated_22d": 0.2637200951576233, + "rms_24d": 0.03655233979225159, + "rms_articulated_22d": 0.03817767649888992 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode762.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode762.npy new file mode 100644 index 0000000000000000000000000000000000000000..dc21fea67d78c1f4588972f2a628e5522c2fad4b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode762.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06b9017e7bb8700a892bfe3eccf9bdbbef46a61d244f5ce338242d4cf726f1dc +size 13280 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode763.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode763.json new file mode 100644 index 0000000000000000000000000000000000000000..c58b181f2ec2fe7fab653ecaddd27f0a128db7eb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode763.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 763, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 136, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.39500197768211365, + "max_abs_articulated_22d": 0.39500197768211365, + "rms_24d": 0.03902103006839752, + "rms_articulated_22d": 0.04075613617897034 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode763.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode763.npy new file mode 100644 index 0000000000000000000000000000000000000000..464d3594144e5955acab28c8298d212e37121b04 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode763.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:608c2f63c1f9d2df3be02fe0a0e13a22157363b2823cc34acc8cb64bcc307ab6 +size 13184 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode764.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode764.json new file mode 100644 index 0000000000000000000000000000000000000000..f157c56c8e70776b64390d3481835cb1d69a9f4b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode764.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 764, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 537, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.42720723152160645, + "max_abs_articulated_22d": 0.42720723152160645, + "rms_24d": 0.025903813540935516, + "rms_articulated_22d": 0.0270556528121233 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode764.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode764.npy new file mode 100644 index 0000000000000000000000000000000000000000..eb66009e830f1cae00e4165f5bc231c37e4122e3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode764.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12ac72de8e087fde04b3ee04861449bca7a8832517cf3f75937e796c3bece713 +size 51680 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode765.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode765.json new file mode 100644 index 0000000000000000000000000000000000000000..28dd848f7c11fb79f6766d77e5a9d52f0cc1e76a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode765.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 765, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 102, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19678407907485962, + "max_abs_articulated_22d": 0.19678407907485962, + "rms_24d": 0.026919005438685417, + "rms_articulated_22d": 0.028115984052419662 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode765.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode765.npy new file mode 100644 index 0000000000000000000000000000000000000000..6fdf41f30bdedbb447bca709be92e7a58a30e470 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode765.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:253030f211b09fb88a1f5286cba9b033336c090b6fcb3de1e707b1bfd6e64dfe +size 9920 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode766.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode766.json new file mode 100644 index 0000000000000000000000000000000000000000..a4cf5d28b39976b634c6d36e801cfb29381ef640 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode766.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 766, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 238, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3151928186416626, + "max_abs_articulated_22d": 0.3151928186416626, + "rms_24d": 0.03464150056242943, + "rms_articulated_22d": 0.036181870847940445 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode766.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode766.npy new file mode 100644 index 0000000000000000000000000000000000000000..a4d75fa6da72620710fa261f6f0f774c47792e4a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode766.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4750d585cb2542877c7b9e780be7582fa6a77603018d5ca9951b1af3d38f89d +size 22976 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode767.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode767.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ee35a7973a3d8709821a647ffc30820fc85878 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode767.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 767, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 148, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.16259455680847168, + "max_abs_articulated_22d": 0.16259455680847168, + "rms_24d": 0.025443309918045998, + "rms_articulated_22d": 0.026574671268463135 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode767.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode767.npy new file mode 100644 index 0000000000000000000000000000000000000000..c2b325bf4fcae782274c89157e6a0cab5aa13387 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode767.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e004b2cee0cfbfc099bedbe36194fb4e6c8083f1e4dc03859d25c531dca41bb2 +size 14336 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode768.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode768.json new file mode 100644 index 0000000000000000000000000000000000000000..9eaebc73aa3ec2216584e146bc75c74b855a36ff --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode768.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 768, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 149, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.41263434290885925, + "max_abs_articulated_22d": 0.41263434290885925, + "rms_24d": 0.03784343972802162, + "rms_articulated_22d": 0.039526183158159256 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode768.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode768.npy new file mode 100644 index 0000000000000000000000000000000000000000..74cc12f310a269bf96ed1361f01c7afbd1eef5a8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode768.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ed5e585a8de1db6cb24fae7807fca6c919abeb909fc7a53dd1cee9e022ddb2c +size 14432 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode769.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode769.json new file mode 100644 index 0000000000000000000000000000000000000000..53bf9bbc92fc5342e4d5b232fd08f7ec3bc1f3e0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode769.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 769, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 351, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3387126922607422, + "max_abs_articulated_22d": 0.3387126922607422, + "rms_24d": 0.027665767818689346, + "rms_articulated_22d": 0.02889595367014408 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode769.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode769.npy new file mode 100644 index 0000000000000000000000000000000000000000..1e283345e7e6899abb5e05635bdc22d64ee77d33 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode769.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bdbdd6372704ceb88bd32b3b3244f18c3396b82656f533e7bd30d415045640b7 +size 33824 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode77.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode77.json new file mode 100644 index 0000000000000000000000000000000000000000..78d7ff655b733636c62cdf78e61812ef381214cf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode77.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 77, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 232, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.05139338970184326, + "max_abs_articulated_22d": 0.05139338970184326, + "rms_24d": 0.006484202109277248, + "rms_articulated_22d": 0.006772527936846018 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode77.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode77.npy new file mode 100644 index 0000000000000000000000000000000000000000..05b4194f3c4d51f8c2d51309032b895d2d30148a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode77.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d49b6bf925ad0e7c5de69433009648970fe03720126dd7f8a442a9d2c0b09df1 +size 22400 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode770.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode770.json new file mode 100644 index 0000000000000000000000000000000000000000..c67deaeceb76e3d1745cb0634307df42b386fc39 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode770.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 770, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 182, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6459769010543823, + "max_abs_articulated_22d": 0.6459769010543823, + "rms_24d": 0.04683458060026169, + "rms_articulated_22d": 0.048917125910520554 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode770.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode770.npy new file mode 100644 index 0000000000000000000000000000000000000000..d8f9964f119076254e226f444cd01fd4ef9c5955 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode770.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a5555fd85054cbb5b8ed5f1bb67dbae89737f0be8cf323ad8f6f1725301f5d4 +size 17600 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode771.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode771.json new file mode 100644 index 0000000000000000000000000000000000000000..44311a594477069f237d5e2286784040190779a1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode771.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 771, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 219, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.27967536449432373, + "max_abs_articulated_22d": 0.27967536449432373, + "rms_24d": 0.029554300010204315, + "rms_articulated_22d": 0.03086845949292183 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode771.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode771.npy new file mode 100644 index 0000000000000000000000000000000000000000..f135b2dcd4b75cedb729255a561dc4361ce0cf54 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode771.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c288936fef3392a7021fc37aa09e83739d72d8b4524987670a719ae1be820de +size 21152 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode772.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode772.json new file mode 100644 index 0000000000000000000000000000000000000000..3d1f011bd58a62ff3734fc4e2b60747445650b25 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode772.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 772, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 104, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1856985092163086, + "max_abs_articulated_22d": 0.1856985092163086, + "rms_24d": 0.023789681494235992, + "rms_articulated_22d": 0.02484751306474209 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode772.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode772.npy new file mode 100644 index 0000000000000000000000000000000000000000..f5ce40f4261dec35fd88b1ccb3406f3f68d813a2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode772.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbaec703bbf745c6dacaed8be14124ceb3952e46d0c2ef28e5dffbb6eab945c7 +size 10112 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode773.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode773.json new file mode 100644 index 0000000000000000000000000000000000000000..d8153331b3b0ec8ca1dac576b6ddd6594f02a0b2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode773.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 773, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 113, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.23109081387519836, + "max_abs_articulated_22d": 0.23109081387519836, + "rms_24d": 0.03743777796626091, + "rms_articulated_22d": 0.03910248354077339 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode773.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode773.npy new file mode 100644 index 0000000000000000000000000000000000000000..fec355c2c19940d076e57a068f95926f719ddc79 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode773.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b95aa0fd64ce73590e8273fe0d9ef26b7cb82a1081171b1d39ac819d29b2a64b +size 10976 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode774.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode774.json new file mode 100644 index 0000000000000000000000000000000000000000..4b71cf6f9dbfe4c1c9fbaa30d8118a6e51e2bf36 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode774.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 774, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 109, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.13588546216487885, + "max_abs_articulated_22d": 0.13588546216487885, + "rms_24d": 0.01845642179250717, + "rms_articulated_22d": 0.01927710324525833 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode774.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode774.npy new file mode 100644 index 0000000000000000000000000000000000000000..4f3764a5083bf8a20344e133e943d1eb1d9d04ec --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode774.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2fbdb5c52301d1bad0db42635f8b7599e4c4c2e4f167d5a8ef5d1d0c34ba177 +size 10592 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode775.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode775.json new file mode 100644 index 0000000000000000000000000000000000000000..93a7c2b3f8b6cacf7c2c31cb25cde044f9e77571 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode775.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 775, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 664, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.7408225536346436, + "max_abs_articulated_22d": 0.7408225536346436, + "rms_24d": 0.03683608025312424, + "rms_articulated_22d": 0.038474030792713165 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode775.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode775.npy new file mode 100644 index 0000000000000000000000000000000000000000..f4a82b67a0fae800be860ae4bcafa801edc40a1e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode775.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8028b04e36fc95f4846d84a2eced7c2e8dd8da45b72c5bb025bc03a88c184123 +size 63872 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode776.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode776.json new file mode 100644 index 0000000000000000000000000000000000000000..57be0b9a8f5825fc98fa13524405f7fd287fe99a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode776.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 776, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 155, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.18784087896347046, + "max_abs_articulated_22d": 0.18784087896347046, + "rms_24d": 0.030007965862751007, + "rms_articulated_22d": 0.03134229779243469 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode776.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode776.npy new file mode 100644 index 0000000000000000000000000000000000000000..4b373a8a387d94566b0c39d84ceaab70329ff804 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode776.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a088dd79201bac8d395e9ecf4a1de316692b7f62108c1a955ab112f7c5277220 +size 15008 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode777.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode777.json new file mode 100644 index 0000000000000000000000000000000000000000..e6f4a2fc8796cf04757e98de7a562b4a068749cb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode777.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 777, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 128, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.49730122089385986, + "max_abs_articulated_22d": 0.49730122089385986, + "rms_24d": 0.04804987460374832, + "rms_articulated_22d": 0.05018645524978638 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode777.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode777.npy new file mode 100644 index 0000000000000000000000000000000000000000..ac3db7b78836ac1633db633bf8675a15b88f15ed --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode777.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1593d51ba44097a23d59ca1bc4cf6e2ebba638b48ad206e72a2cb875c503c440 +size 12416 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode778.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode778.json new file mode 100644 index 0000000000000000000000000000000000000000..8757063a7397abf391044b4d814824086d22c7b6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode778.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 778, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 103, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2890781760215759, + "max_abs_articulated_22d": 0.2890781760215759, + "rms_24d": 0.040844205766916275, + "rms_articulated_22d": 0.04266037791967392 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode778.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode778.npy new file mode 100644 index 0000000000000000000000000000000000000000..c3698f90463d49afb67ac936299df8df0c944a58 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode778.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e463be3b4a42a493ff60ec7d66ff0c8b4219eb520967f6b7b0b877d7c27317b +size 10016 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode779.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode779.json new file mode 100644 index 0000000000000000000000000000000000000000..4b01385372603d369e235fc9b599c510f061e427 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode779.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 779, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 181, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.41993778944015503, + "max_abs_articulated_22d": 0.41993778944015503, + "rms_24d": 0.05095493793487549, + "rms_articulated_22d": 0.05322068929672241 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode779.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode779.npy new file mode 100644 index 0000000000000000000000000000000000000000..277adc9026c46cdd7258d690473b9a5302856f03 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode779.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3308c4949e2b299ed68f6b2cc34ec99451babd6a08c0119400bcb8559d4051e8 +size 17504 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode78.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode78.json new file mode 100644 index 0000000000000000000000000000000000000000..9f89849527479997661c1558c08eea4bc84d2eac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode78.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 78, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 105, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.089519202709198, + "max_abs_articulated_22d": 0.089519202709198, + "rms_24d": 0.01781626231968403, + "rms_articulated_22d": 0.01860847882926464 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode78.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode78.npy new file mode 100644 index 0000000000000000000000000000000000000000..4fd0dca7216e0249fcd5225d20dc8d2bb7952838 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode78.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:616e9e61c497599fa5fdf8f801fc7a041eba31a5537e20e2c40b3c82e0637e4f +size 10208 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode780.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode780.json new file mode 100644 index 0000000000000000000000000000000000000000..422db74c2691ae351932ec38b9dd954d057780d5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode780.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 780, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 303, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.9225107431411743, + "max_abs_articulated_22d": 0.9225107431411743, + "rms_24d": 0.058938413858413696, + "rms_articulated_22d": 0.06155917048454285 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode780.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode780.npy new file mode 100644 index 0000000000000000000000000000000000000000..a93de692dfd045dea0189a375226dde6fdafb596 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode780.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83f34b20a90510f9f3cf41ec922d72fbdca8eb867f4faeb05377ff9647086f96 +size 29216 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode781.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode781.json new file mode 100644 index 0000000000000000000000000000000000000000..8ebecfe9af9cfbeb0c5477559afbabbad9450cf9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode781.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 781, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 122, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3057234585285187, + "max_abs_articulated_22d": 0.3057234585285187, + "rms_24d": 0.04571858420968056, + "rms_articulated_22d": 0.04775150120258331 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode781.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode781.npy new file mode 100644 index 0000000000000000000000000000000000000000..d6262ae7e51e452f8e2f787e5d6e2b877d83436c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode781.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3291715452ab859e0edd6042018ac21b41dbe5a2641c6b010ec2e40c9c8eed52 +size 11840 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode782.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode782.json new file mode 100644 index 0000000000000000000000000000000000000000..9982c6328e3cae39422031b7dd7bda18be76cf06 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode782.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 782, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 112, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1644829511642456, + "max_abs_articulated_22d": 0.1644829511642456, + "rms_24d": 0.024097321555018425, + "rms_articulated_22d": 0.025168830528855324 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode782.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode782.npy new file mode 100644 index 0000000000000000000000000000000000000000..2bcff1e4433f4cf7c70f38a323891c0857627a19 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode782.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c501c7b51866cab1c2864d9985fd3c5789dc630a47c74ef9fe606915aa690a6 +size 10880 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode783.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode783.json new file mode 100644 index 0000000000000000000000000000000000000000..37d986a3e5c4542a6aa2677b842d43c179020970 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode783.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 783, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 101, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.16296735405921936, + "max_abs_articulated_22d": 0.16296735405921936, + "rms_24d": 0.030626725405454636, + "rms_articulated_22d": 0.03198857232928276 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode783.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode783.npy new file mode 100644 index 0000000000000000000000000000000000000000..4d9bad0ad9f1e0042fd9fb24903cd15de0fba476 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode783.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5acbd8c17c054549d1bb4f84d1002bb7b52cf1925283d2f3a6f10882914cc3f +size 9824 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode784.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode784.json new file mode 100644 index 0000000000000000000000000000000000000000..08a912fd61a47716b97f7b9de4502a70c5e6e988 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode784.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 784, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 220, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4790157079696655, + "max_abs_articulated_22d": 0.4790157079696655, + "rms_24d": 0.045726776123046875, + "rms_articulated_22d": 0.04776005819439888 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode784.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode784.npy new file mode 100644 index 0000000000000000000000000000000000000000..2dc05bfd001da3840b1b7a260e20473eaf7636c0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode784.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c4603817989dcb1e32ac30683a6150861a5cca7b55f8195609dd030d1de49dd +size 21248 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode785.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode785.json new file mode 100644 index 0000000000000000000000000000000000000000..4718b1aca9e999b79b9a4ce4388051ebb45ace94 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode785.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 785, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 250, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 1.1357154846191406, + "max_abs_articulated_22d": 1.1357154846191406, + "rms_24d": 0.06988392770290375, + "rms_articulated_22d": 0.07299137860536575 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode785.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode785.npy new file mode 100644 index 0000000000000000000000000000000000000000..064bbdb4953352facfec48eb7132bb953ed0e8b6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode785.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd69b6591cd3a13f551f5ee255af8371a94e325f211ea2f603b9a496a4810bbb +size 24128 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode786.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode786.json new file mode 100644 index 0000000000000000000000000000000000000000..c68758078d7746b899732a43893728f9248133eb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode786.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 786, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 131, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.10002171993255615, + "max_abs_articulated_22d": 0.10002171993255615, + "rms_24d": 0.015016051940619946, + "rms_articulated_22d": 0.015683753415942192 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode786.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode786.npy new file mode 100644 index 0000000000000000000000000000000000000000..db9e054f729392bb33ba0b7eccbf7b30a600c38e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode786.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38c2a92e2875dc49d7618c24546ff69ebbd728716916b3f5598b32ee30f6d01a +size 12704 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode787.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode787.json new file mode 100644 index 0000000000000000000000000000000000000000..6152fa8eff69a2b0a990ecb26135b96fb5b6c35f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode787.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 787, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 104, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.08263295888900757, + "max_abs_articulated_22d": 0.08263295888900757, + "rms_24d": 0.014286021701991558, + "rms_articulated_22d": 0.014921262860298157 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode787.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode787.npy new file mode 100644 index 0000000000000000000000000000000000000000..ee7ce5f1134bc5cdfa79e42312d77d293c28511a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode787.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7770c1ca02f702cb31ca759b33a880e9480bd3553cfb227c2d1a6953d8e77f2a +size 10112 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode788.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode788.json new file mode 100644 index 0000000000000000000000000000000000000000..73000a6b84c5441e801e0cb85d44f179137c314d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode788.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 788, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 100, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.21593138575553894, + "max_abs_articulated_22d": 0.21593138575553894, + "rms_24d": 0.031055176630616188, + "rms_articulated_22d": 0.0324360728263855 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode788.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode788.npy new file mode 100644 index 0000000000000000000000000000000000000000..d327328966fcf87ce027eabd6a13fbaf2ed8d4ad --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode788.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81ddbafbbac65698dd10e35a061b8f3578e98ff010cfb13d6c2fcb1954b7ba3c +size 9728 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode789.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode789.json new file mode 100644 index 0000000000000000000000000000000000000000..bd3ef57d03b21ef67fb29c7892454075a88f4419 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode789.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 789, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 111, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3322409391403198, + "max_abs_articulated_22d": 0.3322409391403198, + "rms_24d": 0.034149233251810074, + "rms_articulated_22d": 0.03566771000623703 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode789.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode789.npy new file mode 100644 index 0000000000000000000000000000000000000000..0c0da3768cb518a5fa03c7efcdb35db1c2d2343f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode789.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6822032efc91dd4757f7a72857de877ecee075e05aec05d4c5c416b2d0e7366 +size 10784 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode79.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode79.json new file mode 100644 index 0000000000000000000000000000000000000000..3788764afcb29a9434967b8d6c566f4c08576afa --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode79.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 79, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 334, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2351783812046051, + "max_abs_articulated_22d": 0.2351783812046051, + "rms_24d": 0.01828397810459137, + "rms_articulated_22d": 0.019096992909908295 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode79.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode79.npy new file mode 100644 index 0000000000000000000000000000000000000000..479c44bd83878e2add2dbac5579ba229d63201c6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode79.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6082968c8674703e57345beaac735cd015b465d51596e1dc80da778a57366263 +size 32192 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode790.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode790.json new file mode 100644 index 0000000000000000000000000000000000000000..38335c2467df51a920274e6117e6f5b0ff4aaaf1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode790.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 790, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 325, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1836816668510437, + "max_abs_articulated_22d": 0.1836816668510437, + "rms_24d": 0.01890154555439949, + "rms_articulated_22d": 0.019742019474506378 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode790.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode790.npy new file mode 100644 index 0000000000000000000000000000000000000000..caa1006a01ba2803a88e0ecb7e106e48c8288827 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode790.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b32fde4aafab9c60686750708a6f7f6dad41a1ba89dd71dcf250cd76137fa53 +size 31328 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode791.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode791.json new file mode 100644 index 0000000000000000000000000000000000000000..5a6bba58de41e72b06facf4897a8847f81ca4227 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode791.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 791, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 160, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.09811460971832275, + "max_abs_articulated_22d": 0.09811460971832275, + "rms_24d": 0.01283303089439869, + "rms_articulated_22d": 0.013403663411736488 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode791.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode791.npy new file mode 100644 index 0000000000000000000000000000000000000000..5712739ecfe2ce7d9d580722017f16ada97b86de --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode791.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40a459da9f1f3c2f057b1e34112bf1f1ecd2d899455a954d9d25264bb2d1856b +size 15488 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode792.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode792.json new file mode 100644 index 0000000000000000000000000000000000000000..64cf282f8395e6fba4bd835c6ccf1043fe0ed8c2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode792.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 792, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 220, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4859916865825653, + "max_abs_articulated_22d": 0.4859916865825653, + "rms_24d": 0.027088189497590065, + "rms_articulated_22d": 0.028292691335082054 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode792.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode792.npy new file mode 100644 index 0000000000000000000000000000000000000000..0dc2dbdc0b2c194bf0907c7aa63b689f48e0ae43 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode792.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a75a1f4b6485e331a485ae5d7b76dce27fe5ca5121217776b7a75b966267c1d +size 21248 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode793.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode793.json new file mode 100644 index 0000000000000000000000000000000000000000..f31f67ec5ce54f957e69c702cfb218dc75be9878 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode793.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 793, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 319, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5352951884269714, + "max_abs_articulated_22d": 0.5352951884269714, + "rms_24d": 0.03165651485323906, + "rms_articulated_22d": 0.03306414932012558 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode793.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode793.npy new file mode 100644 index 0000000000000000000000000000000000000000..9ac4067a609693141745e2627ba5cc0ecc583ee4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode793.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:846e60ae51628a17a7bec80bccd4c7d2d7af8ef95e990fde7552ea124d0e9eb1 +size 30752 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode794.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode794.json new file mode 100644 index 0000000000000000000000000000000000000000..944a0e9b228ef0baab61552696439f8715adf344 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode794.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 794, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 261, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4358993470668793, + "max_abs_articulated_22d": 0.4358993470668793, + "rms_24d": 0.026957275345921516, + "rms_articulated_22d": 0.02815595455467701 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode794.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode794.npy new file mode 100644 index 0000000000000000000000000000000000000000..215431cc96ec94cf13d7d37dea8259ac7d721863 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode794.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ddcd98ff8af830daeb0e6dfcd6ce5064d05d05e8f7d650624f4cbdfbbc6de62 +size 25184 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode795.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode795.json new file mode 100644 index 0000000000000000000000000000000000000000..81a96663c324154ce49e220d4af7141324bc6a1e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode795.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 795, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 375, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.18252170085906982, + "max_abs_articulated_22d": 0.18252170085906982, + "rms_24d": 0.019939705729484558, + "rms_articulated_22d": 0.020826343446969986 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode795.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode795.npy new file mode 100644 index 0000000000000000000000000000000000000000..0a4bb62b4a8f59f16981b5ca15ce23d7966da1ff --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode795.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00b27adab0f41d504fbea2dffde5a1f18abf418679d50379c3b668722c3ca7b6 +size 36128 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode796.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode796.json new file mode 100644 index 0000000000000000000000000000000000000000..adc22ce05007ff2f0a00e2c1b1bbd5e8853350e1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode796.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 796, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 229, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6334764361381531, + "max_abs_articulated_22d": 0.6334764361381531, + "rms_24d": 0.04034486413002014, + "rms_articulated_22d": 0.04213883727788925 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode796.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode796.npy new file mode 100644 index 0000000000000000000000000000000000000000..fa9eeab7a99a927147e7764c4511441c7507b22a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode796.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b47a37f610c4957c4b5f60b19275a4c488801808353d45e3510b09fbd608265 +size 22112 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode797.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode797.json new file mode 100644 index 0000000000000000000000000000000000000000..68d4c535b7b065f551155cea35c2502d8fb9053a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode797.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 797, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 103, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.48830100893974304, + "max_abs_articulated_22d": 0.48830100893974304, + "rms_24d": 0.047681983560323715, + "rms_articulated_22d": 0.049802202731370926 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode797.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode797.npy new file mode 100644 index 0000000000000000000000000000000000000000..78778b5c06f894b749b274365702a4ac6e5614b3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode797.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdf2ae8e800e1958b07a4a7e34c437070f7e07bb79ab6e50e464248f162142d6 +size 10016 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode798.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode798.json new file mode 100644 index 0000000000000000000000000000000000000000..2dce0ed56bfcbe8b8eb6e883478c8f798ca12099 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode798.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 798, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 273, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1321479082107544, + "max_abs_articulated_22d": 0.1321479082107544, + "rms_24d": 0.01725591905415058, + "rms_articulated_22d": 0.01802322082221508 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode798.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode798.npy new file mode 100644 index 0000000000000000000000000000000000000000..b370b337e8431abb5c130aeca02cd3b0865777b9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode798.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce4705ef82bc65dd8f8d1ec085a50af0242507a3b30f87cd7d1704d26e4133a7 +size 26336 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode799.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode799.json new file mode 100644 index 0000000000000000000000000000000000000000..0bbb9e8b34e0439772fe59e4cd08502dc098cdbc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode799.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 799, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 133, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6325728297233582, + "max_abs_articulated_22d": 0.6325728297233582, + "rms_24d": 0.049632683396339417, + "rms_articulated_22d": 0.05183965340256691 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode799.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode799.npy new file mode 100644 index 0000000000000000000000000000000000000000..3a27da6a9a67dd29916f854bbd249034e18a6b27 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode799.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4d5ac945956dea7932162a4c5077671f06527a992354b2f975d178e57ff9efb +size 12896 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode8.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..71e0c98f4738535569bfe811d6767b8f55cecb34 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode8.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 8, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 130, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.16437077522277832, + "max_abs_articulated_22d": 0.16437077522277832, + "rms_24d": 0.02602744661271572, + "rms_articulated_22d": 0.027184780687093735 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode8.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode8.npy new file mode 100644 index 0000000000000000000000000000000000000000..e07222b9301713a774db68a24f71c210b67893d0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode8.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:328dadfbf2afa44b9bf9f78dbd16795b344884bf28315ef5915558708db404c3 +size 12608 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode80.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode80.json new file mode 100644 index 0000000000000000000000000000000000000000..849a68c3e1224c588d6809659096026b2ce76488 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode80.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 80, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 207, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.13068696856498718, + "max_abs_articulated_22d": 0.13068696856498718, + "rms_24d": 0.014178458601236343, + "rms_articulated_22d": 0.014808917418122292 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode80.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode80.npy new file mode 100644 index 0000000000000000000000000000000000000000..d6c06e517a0e976ccf747b85580edee3b4f555e4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode80.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72544f1f665bef2a211d59330be19e09168f9c4d352905c0871ee78462d46a90 +size 20000 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode800.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode800.json new file mode 100644 index 0000000000000000000000000000000000000000..f0f6653e0eac0f932ba1a8cf869ecc9ef922fb82 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode800.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 800, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 200, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.39592015743255615, + "max_abs_articulated_22d": 0.39592015743255615, + "rms_24d": 0.059416577219963074, + "rms_articulated_22d": 0.062058597803115845 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode800.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode800.npy new file mode 100644 index 0000000000000000000000000000000000000000..ed2bab4d27cf3e3ac0ecd58ac3f9f6b6e37f4554 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode800.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78a2e200a4506aab437381f5d801d51415318a27cb67340c8ad7aee5da546c91 +size 19328 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode801.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode801.json new file mode 100644 index 0000000000000000000000000000000000000000..7995f9d65cb9e167d7600040a770de62eeae03f0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode801.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 801, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 178, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2824755311012268, + "max_abs_articulated_22d": 0.2824755311012268, + "rms_24d": 0.0391533188521862, + "rms_articulated_22d": 0.04089431092143059 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode801.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode801.npy new file mode 100644 index 0000000000000000000000000000000000000000..f6efec36852beea83c65e248633b8a8e0738921d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode801.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:281b5bd80cf9aff7dd878d934fb70cf8f2d4481a9631e0604ee9cc8e3ceadda8 +size 17216 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode802.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode802.json new file mode 100644 index 0000000000000000000000000000000000000000..fd927fc07f11e31e6275fab8ceeaf8108b4c248f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode802.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 802, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 136, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.9989142417907715, + "max_abs_articulated_22d": 0.9989142417907715, + "rms_24d": 0.0757964476943016, + "rms_articulated_22d": 0.07916680723428726 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode802.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode802.npy new file mode 100644 index 0000000000000000000000000000000000000000..2ae753ece9796036fbe4537a96ea97dc9404072c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode802.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bc35686197b821e12b8aa28f5cf40c25befb636d685287a675204a936f54ac6 +size 13184 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode803.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode803.json new file mode 100644 index 0000000000000000000000000000000000000000..256d1e735ed4a525842c12e5285ee158ae97c042 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode803.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 803, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 109, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.27669066190719604, + "max_abs_articulated_22d": 0.27669066190719604, + "rms_24d": 0.03933819755911827, + "rms_articulated_22d": 0.041087403893470764 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode803.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode803.npy new file mode 100644 index 0000000000000000000000000000000000000000..2c5362cbc49587301eafdc04c14fad710f8f42a8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode803.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d22f0d833596f98ef67e79512e403ee65de285f1319d95ed3371074dc42edb7 +size 10592 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode804.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode804.json new file mode 100644 index 0000000000000000000000000000000000000000..58660b3fd079ae0a3c28090c2cad2eeb51541558 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode804.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 804, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 135, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.33289921283721924, + "max_abs_articulated_22d": 0.33289921283721924, + "rms_24d": 0.041531022638082504, + "rms_articulated_22d": 0.04337773472070694 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode804.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode804.npy new file mode 100644 index 0000000000000000000000000000000000000000..d6074c84a3988cde1bcf5620c030cd832ecbc6cf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode804.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d44fac96110909e1e57f04715a62fb406c01b079bff53b78e8d743d8e6688dcd +size 13088 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode805.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode805.json new file mode 100644 index 0000000000000000000000000000000000000000..e502b863a7089f3519799f200d40d351d587fdaa --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode805.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 805, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 110, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.47099703550338745, + "max_abs_articulated_22d": 0.47099703550338745, + "rms_24d": 0.05133071541786194, + "rms_articulated_22d": 0.05361317843198776 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode805.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode805.npy new file mode 100644 index 0000000000000000000000000000000000000000..674ef6650d78045aa04e89d4153fa7a4500861c2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode805.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f12808abf7cf7f77d693a8506a8452ad861871eebac895579b066426de4ba83f +size 10688 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode806.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode806.json new file mode 100644 index 0000000000000000000000000000000000000000..6b9137c5d4c51a5d08b102568e9a1ac7fb565189 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode806.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 806, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 106, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.25408732891082764, + "max_abs_articulated_22d": 0.25408732891082764, + "rms_24d": 0.039886489510536194, + "rms_articulated_22d": 0.04166008159518242 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode806.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode806.npy new file mode 100644 index 0000000000000000000000000000000000000000..31829cb39ab5a0e28b4393823b6d99acf78b2218 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode806.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd722ba4317a393360b7972b7f6acde9c439c53264a7ef8dc91af120f15e5052 +size 10304 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode807.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode807.json new file mode 100644 index 0000000000000000000000000000000000000000..69b43cff43652457d7eb0e5c6ed711bc6bd4281c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode807.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 807, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 263, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.18958711624145508, + "max_abs_articulated_22d": 0.18958711624145508, + "rms_24d": 0.01807195506989956, + "rms_articulated_22d": 0.018875541165471077 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode807.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode807.npy new file mode 100644 index 0000000000000000000000000000000000000000..76ede7902e035a196789d4511f5f8744a0cc468a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode807.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7321e705c101c3dd28bb01b1d944eff3940a9861b12236779781edd262cb1948 +size 25376 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode808.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode808.json new file mode 100644 index 0000000000000000000000000000000000000000..44f264287055ddd4ad1749959282b502a5b15a9b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode808.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 808, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 295, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4710812568664551, + "max_abs_articulated_22d": 0.4710812568664551, + "rms_24d": 0.023643873631954193, + "rms_articulated_22d": 0.024695219472050667 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode808.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode808.npy new file mode 100644 index 0000000000000000000000000000000000000000..0563153192e6bab93ddda51ec63ef6b62bf825a5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode808.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e333147784cd6d64e85b4ac2c9cd397e7767ac53cfb8777b58f418aa61e61d7 +size 28448 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode809.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode809.json new file mode 100644 index 0000000000000000000000000000000000000000..be4ad33fe8ad4331d4cbca27375362dae4babd64 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode809.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 809, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 117, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.17763912677764893, + "max_abs_articulated_22d": 0.17763912677764893, + "rms_24d": 0.02145308256149292, + "rms_articulated_22d": 0.022407013922929764 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode809.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode809.npy new file mode 100644 index 0000000000000000000000000000000000000000..07fa2456879026728877f3c5a0c030399e6e6dd6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode809.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5c0d64b558d997dddd45e5a57a1ea8dab6642d2ffb6bf389bd89170872428b1 +size 11360 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode81.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode81.json new file mode 100644 index 0000000000000000000000000000000000000000..10dcd30fb6c5e25632a6b7ca7d36d5bb0435286e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode81.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 81, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 117, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.05436575412750244, + "max_abs_articulated_22d": 0.05436575412750244, + "rms_24d": 0.00798805896192789, + "rms_articulated_22d": 0.008343256078660488 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode81.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode81.npy new file mode 100644 index 0000000000000000000000000000000000000000..a04d57b6989685fbb552d3d1a598d01a4de61f4f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode81.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9877728c35ac30a9f2da4e331264d85f520ca6d946f28735db8abe5ead16a915 +size 11360 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode810.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode810.json new file mode 100644 index 0000000000000000000000000000000000000000..d30f650c829be841a2d62a13fb9bf666ff456c25 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode810.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 810, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 159, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19944919645786285, + "max_abs_articulated_22d": 0.19944919645786285, + "rms_24d": 0.025207161903381348, + "rms_articulated_22d": 0.02632802166044712 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode810.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode810.npy new file mode 100644 index 0000000000000000000000000000000000000000..d9a9e52df7e6eb2586257bc6ac7d795144870aa9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode810.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9634a59843f068d1c84547db7990851eac4f22bd1247f654f7c412d7f5320cb +size 15392 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode811.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode811.json new file mode 100644 index 0000000000000000000000000000000000000000..e70e4b07831bc1d29c798de97e59c0dbf3b17ba1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode811.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 811, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 148, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3713710308074951, + "max_abs_articulated_22d": 0.3713710308074951, + "rms_24d": 0.02937990240752697, + "rms_articulated_22d": 0.030686307698488235 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode811.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode811.npy new file mode 100644 index 0000000000000000000000000000000000000000..be37b0af7a0df2703c54633c069bdd34f826046b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode811.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:976b776ae3d13d1748f664aa58e1651abe4ca704d1966fef0012fc80d9036e07 +size 14336 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode812.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode812.json new file mode 100644 index 0000000000000000000000000000000000000000..2b9f242351fb558412d68fa43462f11abace2664 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode812.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 812, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 125, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.373867005109787, + "max_abs_articulated_22d": 0.373867005109787, + "rms_24d": 0.031029287725687027, + "rms_articulated_22d": 0.03240903094410896 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode812.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode812.npy new file mode 100644 index 0000000000000000000000000000000000000000..b007bb00bd19c73fb47d73d600800cf429179af6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode812.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2d6ca93f060752573fd5d4db3ebfd09a21b9fab57dfc0759f354457169ec72b +size 12128 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode813.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode813.json new file mode 100644 index 0000000000000000000000000000000000000000..518473e8b1ca914a01ffc36fa3bb5374737117ba --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode813.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 813, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 143, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.8386797904968262, + "max_abs_articulated_22d": 0.8386797904968262, + "rms_24d": 0.0753106027841568, + "rms_articulated_22d": 0.07865935564041138 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode813.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode813.npy new file mode 100644 index 0000000000000000000000000000000000000000..63fb446ef723c11ae18dea3947794dcfb55482d6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode813.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f84e6bbabecaa7af5469813baeb9c485a80acdcc04cce7b3b278e7c098956f41 +size 13856 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode814.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode814.json new file mode 100644 index 0000000000000000000000000000000000000000..6140947e1f8295698ee5b29c8f582ed1adbc3bf6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode814.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 814, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 134, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5164172053337097, + "max_abs_articulated_22d": 0.5164172053337097, + "rms_24d": 0.04359440132975578, + "rms_articulated_22d": 0.045532867312431335 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode814.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode814.npy new file mode 100644 index 0000000000000000000000000000000000000000..611a6daf96df0557c193a7deac30dc674874e208 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode814.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:addb185449791f5ec1f13d46e9f62797a019fae0ddae1e18be6efeb1d3127f4b +size 12992 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode815.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode815.json new file mode 100644 index 0000000000000000000000000000000000000000..398541590ebf40faee02e3f2fe2925e40b178559 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode815.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 815, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 156, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2711816430091858, + "max_abs_articulated_22d": 0.2711816430091858, + "rms_24d": 0.02910737507045269, + "rms_articulated_22d": 0.03040166199207306 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode815.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode815.npy new file mode 100644 index 0000000000000000000000000000000000000000..592b77b4f535dd1bb485f644e4da40709e015c0d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode815.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74578397eb9fb503a8a2ef079a8fbd085ccf0b618cffbfc063e0fd22de4c0b6c +size 15104 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode816.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode816.json new file mode 100644 index 0000000000000000000000000000000000000000..b6b401f12a90fce0eee6683cea44b9578baa1551 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode816.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 816, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 297, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2902231216430664, + "max_abs_articulated_22d": 0.2902231216430664, + "rms_24d": 0.028726302087306976, + "rms_articulated_22d": 0.030003642663359642 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode816.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode816.npy new file mode 100644 index 0000000000000000000000000000000000000000..2250f0d682502735685c4af0236ec1d5e872d984 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode816.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29dc6fef9dba6827a80cb6e32fe17a4204f7c7b074abda86acc0e922aad5024c +size 28640 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode817.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode817.json new file mode 100644 index 0000000000000000000000000000000000000000..55bc6b4e9b3d366e6af96effe2e8655c0b934cf2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode817.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 817, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 183, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1475732922554016, + "max_abs_articulated_22d": 0.1475732922554016, + "rms_24d": 0.023693345487117767, + "rms_articulated_22d": 0.024746892973780632 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode817.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode817.npy new file mode 100644 index 0000000000000000000000000000000000000000..080f19c08438d569df04dc10212d3ff522c3d5b4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode817.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e88357d37062b30c2afdc6c308021f1e36ebe8591c17441c4f942c0fbaab1b5 +size 17696 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode818.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode818.json new file mode 100644 index 0000000000000000000000000000000000000000..fd16f67316d20e1e81c4dc5e2e8a23c851397740 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode818.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 818, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 656, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5818397998809814, + "max_abs_articulated_22d": 0.5818397998809814, + "rms_24d": 0.031705617904663086, + "rms_articulated_22d": 0.0331154391169548 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode818.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode818.npy new file mode 100644 index 0000000000000000000000000000000000000000..f0354345ae585d875c32012efa8f0d7aa03aa8a4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode818.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d56d9d633716655e6b342cffa9862400123b05807601995350bc0a12bc7adca0 +size 63104 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode819.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode819.json new file mode 100644 index 0000000000000000000000000000000000000000..1ba22ef4ae4a8d0aa215f46fbb70d8b34c9531d3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode819.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 819, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 177, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.23188740015029907, + "max_abs_articulated_22d": 0.23188740015029907, + "rms_24d": 0.0330270491540432, + "rms_articulated_22d": 0.034495629370212555 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode819.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode819.npy new file mode 100644 index 0000000000000000000000000000000000000000..79a19594382a9136cb06b03f680c0bf2d3f9de76 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode819.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9ebe1fc653ec4ca549ae130c5a2547c790d55cc6372f1c8ed944d8f2d413b40 +size 17120 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode82.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode82.json new file mode 100644 index 0000000000000000000000000000000000000000..8a3c5ebc4a17f0d1553c09a7cbcda2517c63eab1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode82.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 82, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 128, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.18458062410354614, + "max_abs_articulated_22d": 0.18458062410354614, + "rms_24d": 0.02670239843428135, + "rms_articulated_22d": 0.02788974530994892 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode82.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode82.npy new file mode 100644 index 0000000000000000000000000000000000000000..a06921595865c2e4db0a7709fadd3802572abe35 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode82.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da55252dbe0033335d81792488b374a056547f84dd22fc4f18ca60cb1219d165 +size 12416 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode820.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode820.json new file mode 100644 index 0000000000000000000000000000000000000000..8f9d84d831fc78d5e5d7ed7167ae836c647bf664 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode820.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 820, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 194, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.17565535008907318, + "max_abs_articulated_22d": 0.17565535008907318, + "rms_24d": 0.021365409716963768, + "rms_articulated_22d": 0.02231544256210327 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode820.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode820.npy new file mode 100644 index 0000000000000000000000000000000000000000..5a112c3d75a33ecf9aa1347db38b71e749e4e1b4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode820.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f9343b07bf3764c790022e1b0c24378b505927a6088402fd7259d7fa1d745ab +size 18752 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode821.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode821.json new file mode 100644 index 0000000000000000000000000000000000000000..424680730fb15dd9d75283c97c482dcb51b9e6d4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode821.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 821, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 132, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.27200987935066223, + "max_abs_articulated_22d": 0.27200987935066223, + "rms_24d": 0.03452203422784805, + "rms_articulated_22d": 0.036057088524103165 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode821.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode821.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7bc2ed36be737041a5141e025355643ed3d8cc3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode821.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d43c0f896723e9b5eedf0ef82821c0fb43b591538a3cacd678345a6871b674a +size 12800 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode822.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode822.json new file mode 100644 index 0000000000000000000000000000000000000000..d3035d2aa7605c854ffc7b9d48fc3154379e20f9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode822.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 822, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 123, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4118797779083252, + "max_abs_articulated_22d": 0.4118797779083252, + "rms_24d": 0.05171637982130051, + "rms_articulated_22d": 0.05401599779725075 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode822.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode822.npy new file mode 100644 index 0000000000000000000000000000000000000000..efa0df72b5092f652c474098ef2d35cc33591276 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode822.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46c3eaef63fe52ae6dc2986ef987490e63ad73e3d8597cfb61267cdfd1e6197e +size 11936 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode823.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode823.json new file mode 100644 index 0000000000000000000000000000000000000000..f2b9b6b4f9dc152d30f5c11fd48494144e91692c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode823.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 823, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 102, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.31538844108581543, + "max_abs_articulated_22d": 0.31538844108581543, + "rms_24d": 0.057034656405448914, + "rms_articulated_22d": 0.05957075580954552 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode823.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode823.npy new file mode 100644 index 0000000000000000000000000000000000000000..e99983779d4c5f6970dffc0174f92af60f73f8ab --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode823.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d17cbb27336fabd165cdb6c79b28908a15f5eaf470391f5b6a5199a250fac21 +size 9920 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode824.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode824.json new file mode 100644 index 0000000000000000000000000000000000000000..ce1c75eebb01615e4ad67ab0425c635158d6cc16 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode824.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 824, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 104, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.659918487071991, + "max_abs_articulated_22d": 0.659918487071991, + "rms_24d": 0.08309110999107361, + "rms_articulated_22d": 0.08678583800792694 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode824.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode824.npy new file mode 100644 index 0000000000000000000000000000000000000000..ff573496bda5e429154e63140c8909cd1a66342f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode824.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eadaf881ed777ca7191888abdf1c7f7702fd7acfca9f66818cfc9dc4b0b92938 +size 10112 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode825.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode825.json new file mode 100644 index 0000000000000000000000000000000000000000..e89d176b596f8b558c0d96573ac1daab8b2c814c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode825.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 825, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 145, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.23301196098327637, + "max_abs_articulated_22d": 0.23301196098327637, + "rms_24d": 0.03765532001852989, + "rms_articulated_22d": 0.03932970017194748 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode825.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode825.npy new file mode 100644 index 0000000000000000000000000000000000000000..bbe147f7c1859531f98bf0814192f7ec7fc2b920 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode825.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf620f2fe2e722a96c012bc22b6f96adc8ccc18c7b88334de0de5c01a984ea50 +size 14048 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode826.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode826.json new file mode 100644 index 0000000000000000000000000000000000000000..cc4b880ddd8bb496ff328a962ec2496a58413103 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode826.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 826, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 116, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.30717408657073975, + "max_abs_articulated_22d": 0.30717408657073975, + "rms_24d": 0.04654920473694801, + "rms_articulated_22d": 0.04861905798316002 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode826.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode826.npy new file mode 100644 index 0000000000000000000000000000000000000000..c5be8508e10013507eeeefe29d7cc105a0f5ef7f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode826.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8a7d102ddbc5ecd40b31cb669ccb01a368e42881cb9e692a7a486b9efae67d6 +size 11264 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode827.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode827.json new file mode 100644 index 0000000000000000000000000000000000000000..9ef75dd763bd9e1579ec5b88474d81d86ff31965 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode827.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 827, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 132, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2557460069656372, + "max_abs_articulated_22d": 0.2557460069656372, + "rms_24d": 0.03276769444346428, + "rms_articulated_22d": 0.0342247411608696 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode827.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode827.npy new file mode 100644 index 0000000000000000000000000000000000000000..2cb7c6eadb9959cc5149c8d2657b3d968c58e071 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode827.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05c00dcee0e3ff649cc89e64bfd3c22f8827ae20701987d80d2544e1fbcdffb3 +size 12800 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode828.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode828.json new file mode 100644 index 0000000000000000000000000000000000000000..a359b2d98ba5068d906074a4bf330e35d2a7af45 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode828.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 828, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 350, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.21066339313983917, + "max_abs_articulated_22d": 0.21066339313983917, + "rms_24d": 0.023441193625330925, + "rms_articulated_22d": 0.02448352798819542 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode828.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode828.npy new file mode 100644 index 0000000000000000000000000000000000000000..ef7d700ff11c285cb922cc57bb722c21828f6fa7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode828.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc457da49f4148948ec3868f4d6d0b9ef6bcb7cc766035f23f797305d8b0b5d5 +size 33728 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode829.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode829.json new file mode 100644 index 0000000000000000000000000000000000000000..509105574a2242e10b0cda325cf8fbdea6d1c0b8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode829.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 829, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 121, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4307330846786499, + "max_abs_articulated_22d": 0.4307330846786499, + "rms_24d": 0.059866953641176224, + "rms_articulated_22d": 0.06252899020910263 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode829.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode829.npy new file mode 100644 index 0000000000000000000000000000000000000000..d41289ad774951f5bf3b6f0556da4615d3681732 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode829.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bfd137918d5c350d7eff700a33d31bd26224695ce6777d2f1dd7a5ef151f718 +size 11744 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode83.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode83.json new file mode 100644 index 0000000000000000000000000000000000000000..3497318166cf8c53f6be17dc31214a330e558cad --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode83.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 83, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 103, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2567242383956909, + "max_abs_articulated_22d": 0.2567242383956909, + "rms_24d": 0.033610906451940536, + "rms_articulated_22d": 0.035105448216199875 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode83.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode83.npy new file mode 100644 index 0000000000000000000000000000000000000000..d19216d0fb78fcf5f7f8ba495ef591aa20acdd88 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode83.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:822f38594baf6c17986aebb97d2fefec840c68e22058b524988e547a61ef9730 +size 10016 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode830.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode830.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1edca35d2a425e72281804ced9ea0226f53fb2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode830.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 830, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 305, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19989295303821564, + "max_abs_articulated_22d": 0.19989295303821564, + "rms_24d": 0.0215815007686615, + "rms_articulated_22d": 0.022541141137480736 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode830.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode830.npy new file mode 100644 index 0000000000000000000000000000000000000000..4f3e2d68dadcc07cd1329c184e3a7fd8791b8924 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode830.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f22b4f8e25defbd8d4e930773036258504e70d5b49c2f748d990e23bdfaf6072 +size 29408 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode831.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode831.json new file mode 100644 index 0000000000000000000000000000000000000000..04f50b43b8a9a4284085673eed2cb5ce0be66a5d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode831.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 831, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 244, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.38469380140304565, + "max_abs_articulated_22d": 0.38469380140304565, + "rms_24d": 0.03682229667901993, + "rms_articulated_22d": 0.03845963627099991 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode831.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode831.npy new file mode 100644 index 0000000000000000000000000000000000000000..e8036241b2749bf64db97931177e1d0d02ebbd6d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode831.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d46a1a6dfcc3c29a95db358ea591dc636e560163ccaa0f4425f5d4261f8377ee +size 23552 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode832.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode832.json new file mode 100644 index 0000000000000000000000000000000000000000..e890226949fcf0f0ae47661fa2ebe61e8391ee23 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode832.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 832, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 190, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.13763388991355896, + "max_abs_articulated_22d": 0.13763388991355896, + "rms_24d": 0.013878675177693367, + "rms_articulated_22d": 0.014495802111923695 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode832.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode832.npy new file mode 100644 index 0000000000000000000000000000000000000000..869363f06c3dfda6b213cd19d9e4bbfdba2edcdf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode832.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18d9a64f85e0a38cb7abeafa34da634a403f5fae22b79093f7efa857752f5802 +size 18368 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode833.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode833.json new file mode 100644 index 0000000000000000000000000000000000000000..6ffda35b29cc479ade8e3864da22c4c5abfd7c45 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode833.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 833, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 168, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.16938364505767822, + "max_abs_articulated_22d": 0.16938364505767822, + "rms_24d": 0.022436821833252907, + "rms_articulated_22d": 0.02343449741601944 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode833.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode833.npy new file mode 100644 index 0000000000000000000000000000000000000000..d45737fcfd9945ed43a0dcf6f1b9f07a4140c91a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode833.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2943851aa93af5c4e6685a73c57b215fd8c4f9472cbc9a7fbe4157f656ed7855 +size 16256 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode834.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode834.json new file mode 100644 index 0000000000000000000000000000000000000000..98adee258da8fddb954182ee6dd6fdf94f611204 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode834.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 834, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 147, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6987074613571167, + "max_abs_articulated_22d": 0.6987074613571167, + "rms_24d": 0.051146432757377625, + "rms_articulated_22d": 0.05342070758342743 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode834.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode834.npy new file mode 100644 index 0000000000000000000000000000000000000000..0e732e9bd58c3cf219719aa7be248f90386c19af --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode834.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90e10cc450368343a49fa36c3de677d87f750a79e0b570af91464bb6f16655c6 +size 14240 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode835.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode835.json new file mode 100644 index 0000000000000000000000000000000000000000..59b51ffcb599dc61a77462176811f37dd96f0c71 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode835.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 835, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 318, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2213284969329834, + "max_abs_articulated_22d": 0.2213284969329834, + "rms_24d": 0.022953877225518227, + "rms_articulated_22d": 0.023974545300006866 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode835.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode835.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7eb497530970648da6baad9d997f3d55c7769ce --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode835.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f2855bce9ded71fa41499dce3f0b1d33741c08c446b81db3764e2dee2cac54e +size 30656 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode836.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode836.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b2e1b6a4d7ad14fe1d1587554ec18aa3b82931 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode836.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 836, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 144, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2328815758228302, + "max_abs_articulated_22d": 0.2328815758228302, + "rms_24d": 0.01911916956305504, + "rms_articulated_22d": 0.01996932178735733 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode836.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode836.npy new file mode 100644 index 0000000000000000000000000000000000000000..2048b69bf5042b8f3ac2e55ded81c147d4fae067 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode836.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9154fc24c36c82713c15930edaab3a6ddb2b90d7160f5c0c19eb35788a3a786 +size 13952 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode837.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode837.json new file mode 100644 index 0000000000000000000000000000000000000000..02415353dd09f08dc6e372496db7df0d58b027ac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode837.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 837, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 153, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1849251389503479, + "max_abs_articulated_22d": 0.1849251389503479, + "rms_24d": 0.023466264829039574, + "rms_articulated_22d": 0.024509713053703308 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode837.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode837.npy new file mode 100644 index 0000000000000000000000000000000000000000..184caf293b581253f5c7190e60ffbd7500f3d3c9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode837.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bc94eb7044ba9bbfc94d95e51bd4dc1d9f3b35239237d577ac154ef439c8c75 +size 14816 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode838.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode838.json new file mode 100644 index 0000000000000000000000000000000000000000..9ba8ba24ffdd1bf498c78a5bf97708be48c737d4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode838.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 838, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 221, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.26430630683898926, + "max_abs_articulated_22d": 0.26430630683898926, + "rms_24d": 0.02939208410680294, + "rms_articulated_22d": 0.030699029564857483 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode838.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode838.npy new file mode 100644 index 0000000000000000000000000000000000000000..f1ee5a4dba129a10a36cb1a38be415af6eb467cd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode838.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18e1528f234f7d2c51736910abe0a0752c3570907249934c3aa09e3d6d3b4b57 +size 21344 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode839.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode839.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f0e7d05652a99e2a40b328d14c639eb00611b3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode839.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 839, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 155, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.8222237825393677, + "max_abs_articulated_22d": 0.8222237825393677, + "rms_24d": 0.06597649306058884, + "rms_articulated_22d": 0.06891020387411118 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode839.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode839.npy new file mode 100644 index 0000000000000000000000000000000000000000..c64d0233ec7c98772d8b97c86844922bee466cf4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode839.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2ef71466c7500a8ac8fffc6c1d1304149ba0f5af81eb66d558496c84daaf811 +size 15008 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode84.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode84.json new file mode 100644 index 0000000000000000000000000000000000000000..35a4a2a93f5aea8bf3c2d8fc780923c3349eb3e7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode84.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 84, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 109, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.20001323521137238, + "max_abs_articulated_22d": 0.20001323521137238, + "rms_24d": 0.025891728699207306, + "rms_articulated_22d": 0.02704302966594696 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode84.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode84.npy new file mode 100644 index 0000000000000000000000000000000000000000..546208358b3bc3f649c5e16d3e14cda66469e5d1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode84.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e64f54189a04f9f9cacf4b0226e64361c034faf3ba515524146651b5893bb00 +size 10592 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode840.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode840.json new file mode 100644 index 0000000000000000000000000000000000000000..1570c9c2ce998c947f681db2b0da26cffc10a3bd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode840.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 840, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 106, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.7748358845710754, + "max_abs_articulated_22d": 0.7748358845710754, + "rms_24d": 0.08375297486782074, + "rms_articulated_22d": 0.08747712522745132 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode840.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode840.npy new file mode 100644 index 0000000000000000000000000000000000000000..9696f992396782a0292c732f2e52fad9162e88a8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode840.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a9d5eb400a8c5ccaa86e63d380958a7feaf80dbd60e55fcb228e0bc7e9f0e44 +size 10304 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode841.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode841.json new file mode 100644 index 0000000000000000000000000000000000000000..86daf7d1e8bd421b32636308a427730a6d74c2c9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode841.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 841, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 186, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.43253228068351746, + "max_abs_articulated_22d": 0.43253228068351746, + "rms_24d": 0.061799317598342896, + "rms_articulated_22d": 0.06454727798700333 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode841.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode841.npy new file mode 100644 index 0000000000000000000000000000000000000000..c5c597fba3f00a28502bf890319fb35337885465 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode841.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd315072d8198bebee8d079c5af2eb2d6cec631a11c2b58e057ef388e841f736 +size 17984 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode842.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode842.json new file mode 100644 index 0000000000000000000000000000000000000000..6d10a3c60b9fb039b29ae3fef3bc0b9783e18cee --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode842.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 842, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 138, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.7598176002502441, + "max_abs_articulated_22d": 0.7598176002502441, + "rms_24d": 0.056757450103759766, + "rms_articulated_22d": 0.05928121879696846 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode842.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode842.npy new file mode 100644 index 0000000000000000000000000000000000000000..d697984a84d4a1227cb46ba307774925441c12fe --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode842.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbd9ab119da329cc7cc68088054b893fdf7c59b2d66090a36d77f5611faf202c +size 13376 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode843.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode843.json new file mode 100644 index 0000000000000000000000000000000000000000..26d93ce63305c0c05fe076f8430a1795cecce78f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode843.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 843, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 116, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.9908739328384399, + "max_abs_articulated_22d": 0.9908739328384399, + "rms_24d": 0.10750240832567215, + "rms_articulated_22d": 0.11228260397911072 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode843.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode843.npy new file mode 100644 index 0000000000000000000000000000000000000000..c0015c52b90979fdffbdb4e50927087d14cdba8c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode843.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:785651bc7a69c4a04556ef0e1f7e897169216dfecc20dddd14ecc3a8a93ed431 +size 11264 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode844.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode844.json new file mode 100644 index 0000000000000000000000000000000000000000..af07fff929c7e530b8ae7b29bd404bf23d212fe0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode844.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 844, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 108, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.7515744566917419, + "max_abs_articulated_22d": 0.7515744566917419, + "rms_24d": 0.08922934532165527, + "rms_articulated_22d": 0.09319701790809631 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode844.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode844.npy new file mode 100644 index 0000000000000000000000000000000000000000..db8bedac97c0ecbdcc4e7ed58d66c94f7b7f3368 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode844.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db2794eba1cf2ef9be5b1a27fa3c5abf99f2b72b22b37b9062e27da78c18d704 +size 10496 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode845.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode845.json new file mode 100644 index 0000000000000000000000000000000000000000..a149abcc55a2227b4ad5b87d6402a56a1f08ff95 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode845.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 845, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 102, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2816685438156128, + "max_abs_articulated_22d": 0.2816685438156128, + "rms_24d": 0.03205902501940727, + "rms_articulated_22d": 0.0334845595061779 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode845.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode845.npy new file mode 100644 index 0000000000000000000000000000000000000000..ec0cdbbccd538f4ee96b71d5c80fffa86e84bf05 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode845.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a24669ba4b7ed85c6b063d903b0f428f85bf47686aab80c2960bf3135b167972 +size 9920 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode846.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode846.json new file mode 100644 index 0000000000000000000000000000000000000000..a9b4d22c75fcafcc55b924a1ee161e78244dbb5f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode846.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 846, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 129, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6644647121429443, + "max_abs_articulated_22d": 0.6644647121429443, + "rms_24d": 0.08116704225540161, + "rms_articulated_22d": 0.08477621525526047 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode846.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode846.npy new file mode 100644 index 0000000000000000000000000000000000000000..f64915077f9c42e50477714778c40d4bc06cc05d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode846.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2633d4f199a506630c67fed31a3dbe10d145f208449eaa052687e7802fcd702c +size 12512 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode847.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode847.json new file mode 100644 index 0000000000000000000000000000000000000000..0e53cb97e93086dbd4dcfc7d3390180d0d31766e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode847.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 847, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 100, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.17980976402759552, + "max_abs_articulated_22d": 0.17980976402759552, + "rms_24d": 0.01978062093257904, + "rms_articulated_22d": 0.02066018246114254 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode847.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode847.npy new file mode 100644 index 0000000000000000000000000000000000000000..416833d0c84e8950ed1de0a21c636ff736f405b7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode847.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9dc839fb1ac08d42bc70f00e9a27244c5298438c74129c6c6587e7442a72312a +size 9728 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode848.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode848.json new file mode 100644 index 0000000000000000000000000000000000000000..7643f01f02f4eb8db4a5d70a9ef4e83fab424087 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode848.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 848, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 525, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1806492805480957, + "max_abs_articulated_22d": 0.1806492805480957, + "rms_24d": 0.02303570695221424, + "rms_articulated_22d": 0.02406001091003418 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode848.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode848.npy new file mode 100644 index 0000000000000000000000000000000000000000..a0e34e1fcde9a7b8e237e60cad0186688e2ab8c9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode848.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4410d5cbbb9d11d4cae9321645985e0fcd8993075da89093508fde35fe67d2f5 +size 50528 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode849.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode849.json new file mode 100644 index 0000000000000000000000000000000000000000..aa4bb92bf02261f5b1d24c6e6348678cfae3743c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode849.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 849, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 701, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3176634907722473, + "max_abs_articulated_22d": 0.3176634907722473, + "rms_24d": 0.023709429427981377, + "rms_articulated_22d": 0.024763692170381546 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode849.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode849.npy new file mode 100644 index 0000000000000000000000000000000000000000..52096a6a5a403379a499c9d4d84a6f4476296c18 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode849.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0755427ffa67b56d016efd3178a3e428a024eef926afb4c613af5d4fdde19305 +size 67424 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode85.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode85.json new file mode 100644 index 0000000000000000000000000000000000000000..221eaf5c7eb14dd1933173906ab92de1bf7aeaa8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode85.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 85, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 148, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1674237847328186, + "max_abs_articulated_22d": 0.1674237847328186, + "rms_24d": 0.022289449349045753, + "rms_articulated_22d": 0.023280570283532143 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode85.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode85.npy new file mode 100644 index 0000000000000000000000000000000000000000..80dd18d0091daf657095ecc986aecb93cf4cce8b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode85.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:172d0113e9adf4870ab61ac135ebce634a37756152106e657d8798510bbc71c9 +size 14336 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode850.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode850.json new file mode 100644 index 0000000000000000000000000000000000000000..1893f621ae2f3a6bd4bc96bd0c2a7accfa1ccb5b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode850.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 850, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 309, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2178327739238739, + "max_abs_articulated_22d": 0.2178327739238739, + "rms_24d": 0.020807212218642235, + "rms_articulated_22d": 0.021732423454523087 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode850.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode850.npy new file mode 100644 index 0000000000000000000000000000000000000000..1323cec7a35e004f2a20ec4ae5759539f4241833 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode850.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f42e4f966696ed0de4c4807030c84a02a1f0cb033161f26cb16d3ea21b282525 +size 29792 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode851.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode851.json new file mode 100644 index 0000000000000000000000000000000000000000..c3ee68285d842da6959f90c8afedb844f828441d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode851.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 851, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 746, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6581231355667114, + "max_abs_articulated_22d": 0.6581231355667114, + "rms_24d": 0.04563944786787033, + "rms_articulated_22d": 0.04766884818673134 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode851.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode851.npy new file mode 100644 index 0000000000000000000000000000000000000000..04e5bad6d98c2cdce8064c556432b74207166323 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode851.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef49ed2012d772bd5acc907b97e35f5742a5acc625f80296ca4cc4f4eefea627 +size 71744 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode852.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode852.json new file mode 100644 index 0000000000000000000000000000000000000000..938b7fdbe57586958aa396ae1597691621d5ac9f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode852.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 852, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 1311, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.36314091086387634, + "max_abs_articulated_22d": 0.36314091086387634, + "rms_24d": 0.029149862006306648, + "rms_articulated_22d": 0.030446039512753487 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode852.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode852.npy new file mode 100644 index 0000000000000000000000000000000000000000..98a9bee29fb0b15809550fdab35d38610eb84a64 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode852.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:374ae85f5d580554763eb9a21f9b8271e9f672b579159768cd605d763dc185b2 +size 125984 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode853.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode853.json new file mode 100644 index 0000000000000000000000000000000000000000..2340a388f7b232edc7ff6f16ddbb33fe7632cc2a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode853.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 853, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 438, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.28565192222595215, + "max_abs_articulated_22d": 0.28565192222595215, + "rms_24d": 0.02858172170817852, + "rms_articulated_22d": 0.02985263615846634 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode853.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode853.npy new file mode 100644 index 0000000000000000000000000000000000000000..90c5ed4022557b12ddbaafd32c6d0e0e03ad4336 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode853.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92156dbf39f209038e9353d38feb7b08ff809bc6047610d95794ed8b2313616f +size 42176 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode854.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode854.json new file mode 100644 index 0000000000000000000000000000000000000000..3ac5da5cfc2a39aa902386401c65e036ccc4e542 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode854.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 854, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 475, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.211303249001503, + "max_abs_articulated_22d": 0.211303249001503, + "rms_24d": 0.022068113088607788, + "rms_articulated_22d": 0.02304938994348049 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode854.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode854.npy new file mode 100644 index 0000000000000000000000000000000000000000..c841a8e2f98f3e497ab58819ae46e44374c7099a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode854.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbc882c6ad426d22cd97e29941c7ac378bb9373ac58be4da69b7acc54052e625 +size 45728 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode855.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode855.json new file mode 100644 index 0000000000000000000000000000000000000000..2211e669024fd2eb9db61103f2d2cb84a949ec70 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode855.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 855, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 240, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3154347836971283, + "max_abs_articulated_22d": 0.3154347836971283, + "rms_24d": 0.028706736862659454, + "rms_articulated_22d": 0.029983211308717728 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode855.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode855.npy new file mode 100644 index 0000000000000000000000000000000000000000..8f87c8c9e265aae3a10cd0e1f2202f3d7bc31ed0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode855.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e4bf4ff5e48bab997ab8b4c904d2e664a12d81ffe4735c1c84b6afc56b0e9b3 +size 23168 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode856.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode856.json new file mode 100644 index 0000000000000000000000000000000000000000..20fa3fff4d004de66730bdecc702ea7652934cb0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode856.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 856, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 104, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2624548077583313, + "max_abs_articulated_22d": 0.2624548077583313, + "rms_24d": 0.026648497208952904, + "rms_articulated_22d": 0.027833446860313416 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode856.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode856.npy new file mode 100644 index 0000000000000000000000000000000000000000..09b7aae0330efb181f179ea38d9cef997b110475 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode856.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f9ee3deb4b96d7539210d309ae1f1aef0c23f09cc9cb1c1e3a246c68948edba +size 10112 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode857.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode857.json new file mode 100644 index 0000000000000000000000000000000000000000..61c54b47330fcdd1e21319da9f2ae296163fd551 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode857.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 857, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 566, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4172624945640564, + "max_abs_articulated_22d": 0.4172624945640564, + "rms_24d": 0.029494307935237885, + "rms_articulated_22d": 0.0308058001101017 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode857.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode857.npy new file mode 100644 index 0000000000000000000000000000000000000000..bf39d7ca9bdd9f3f453efdd035cd0098f9c3d5ac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode857.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c96dd440fd872b6bd35a7aff89533bf035cdc9e486d407ee6b8965336635d4ad +size 54464 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode858.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode858.json new file mode 100644 index 0000000000000000000000000000000000000000..7a489d710c9a6446c84f0a05596056cb0b5039dd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode858.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 858, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 393, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.7148255705833435, + "max_abs_articulated_22d": 0.7148255705833435, + "rms_24d": 0.05562137812376022, + "rms_articulated_22d": 0.05809463560581207 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode858.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode858.npy new file mode 100644 index 0000000000000000000000000000000000000000..235779141b9129fe93cbf5861565a95b0c3c01bc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode858.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7309bdaf94e7e11b1942d9acd9421c6abd368f687cf53608ffa2c39aab082ee +size 37856 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode859.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode859.json new file mode 100644 index 0000000000000000000000000000000000000000..1c956f7457ba161d1bada94d30961c5f266c8ef3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode859.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 859, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 258, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.30862805247306824, + "max_abs_articulated_22d": 0.30862805247306824, + "rms_24d": 0.028698572888970375, + "rms_articulated_22d": 0.0299746822565794 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode859.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode859.npy new file mode 100644 index 0000000000000000000000000000000000000000..86c3cd85581f1566c7a73198a0199ad33e8e06c8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode859.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d3a3e41809c83a9eb34be24c082b1ceb062db69799feae1eca0e8d5304e2a47 +size 24896 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode86.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode86.json new file mode 100644 index 0000000000000000000000000000000000000000..bd6b4558271ffd655766a5f967b39ef3db1f035c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode86.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 86, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 175, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2545601427555084, + "max_abs_articulated_22d": 0.2545601427555084, + "rms_24d": 0.03380730003118515, + "rms_articulated_22d": 0.03531057387590408 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode86.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode86.npy new file mode 100644 index 0000000000000000000000000000000000000000..288cd8e502aaae0643a662c6d5cff6e9298c434a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode86.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f119c64409dff2da2fb0a231107685e52b525555d0cb056ba94334bfcef4d79 +size 16928 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode860.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode860.json new file mode 100644 index 0000000000000000000000000000000000000000..dcb82ea9614f04724f0e09b8bc03185622ee5d7e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode860.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 860, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 106, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.05519115924835205, + "max_abs_articulated_22d": 0.05519115924835205, + "rms_24d": 0.009723002091050148, + "rms_articulated_22d": 0.010155344381928444 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode860.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode860.npy new file mode 100644 index 0000000000000000000000000000000000000000..98b2afbda5fb9e236ecc952bdbb435d86653a6ea --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode860.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc249624f63093383d1102ea3f73a38834e693d312eab399b0d874dc618cd44f +size 10304 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode861.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode861.json new file mode 100644 index 0000000000000000000000000000000000000000..d450fae0384c8da64707079ce57859dc23285a4d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode861.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 861, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 122, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.165330171585083, + "max_abs_articulated_22d": 0.165330171585083, + "rms_24d": 0.027692485600709915, + "rms_articulated_22d": 0.02892385795712471 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode861.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode861.npy new file mode 100644 index 0000000000000000000000000000000000000000..d2a22fb9bce33b08081402659fd263da9c631daf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode861.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b65b9b250835055d1cbb80649fb5e1b555239da1751f7d03dd77d219d451060 +size 11840 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode862.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode862.json new file mode 100644 index 0000000000000000000000000000000000000000..13c93e0d5179d3a0c24bea24fe14044d9a9aa8d2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode862.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 862, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 192, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2844228148460388, + "max_abs_articulated_22d": 0.2844228148460388, + "rms_24d": 0.03640475496649742, + "rms_articulated_22d": 0.03802352771162987 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode862.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode862.npy new file mode 100644 index 0000000000000000000000000000000000000000..bb707f87dd72d94041cd4cd4d8518fc2d61dcd8d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode862.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c25fdbd2da5644a56d69a6ed32df2f77c371fcfc9971556398270d6093cbb27a +size 18560 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode863.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode863.json new file mode 100644 index 0000000000000000000000000000000000000000..864ffe7f3ed0a75c1941f0447a160d729374a437 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode863.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 863, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 291, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.23291581869125366, + "max_abs_articulated_22d": 0.23291581869125366, + "rms_24d": 0.023664573207497597, + "rms_articulated_22d": 0.02471684105694294 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode863.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode863.npy new file mode 100644 index 0000000000000000000000000000000000000000..e3906641131491777c78af5775c434182d5a14b3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode863.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b84dee4b025af814df8ff0898b58bbf95245c3315575b024b35ea703ccae5ad +size 28064 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode864.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode864.json new file mode 100644 index 0000000000000000000000000000000000000000..92bf8e3e5cc2ef50e26dd19c46988ec012731b43 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode864.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 864, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 221, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5510624051094055, + "max_abs_articulated_22d": 0.5510624051094055, + "rms_24d": 0.03571062162518501, + "rms_articulated_22d": 0.037298526614904404 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode864.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode864.npy new file mode 100644 index 0000000000000000000000000000000000000000..ddef0dd32e1d2577c7818c0577eb5b044f1687e5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode864.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fdea93ce04abd48d302f22846138536a68969b4dc2c91120d734155c35db0ed +size 21344 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode865.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode865.json new file mode 100644 index 0000000000000000000000000000000000000000..3a51dc146afa382aa66b30cda0359035d5a7fdf7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode865.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 865, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 550, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2471141815185547, + "max_abs_articulated_22d": 0.2471141815185547, + "rms_24d": 0.02262476459145546, + "rms_articulated_22d": 0.023630794137716293 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode865.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode865.npy new file mode 100644 index 0000000000000000000000000000000000000000..2faadfd222676ee6cae019806d7681a2d6bd431c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode865.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf3028ee954a4928cf5626e1758acc907bb6a7d5cb877068b4f10fe894a50e41 +size 52928 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode866.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode866.json new file mode 100644 index 0000000000000000000000000000000000000000..2d36e23e66496bcd92964440febc49a8ac591519 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode866.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 866, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 933, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5493113994598389, + "max_abs_articulated_22d": 0.5493113994598389, + "rms_24d": 0.02783801406621933, + "rms_articulated_22d": 0.029075855389237404 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode866.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode866.npy new file mode 100644 index 0000000000000000000000000000000000000000..473a7329fd9cf88ab4b069b4788819e26612dcc2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode866.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef7fdf69638548091baf7d21ccf0ebca760484c9b5508054d3df540813215d07 +size 89696 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode867.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode867.json new file mode 100644 index 0000000000000000000000000000000000000000..0683549530627ad1a896b0ce3806d1cef1f6a793 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode867.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 867, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 378, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.36136308312416077, + "max_abs_articulated_22d": 0.36136308312416077, + "rms_24d": 0.028727974742650986, + "rms_articulated_22d": 0.03000538982450962 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode867.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode867.npy new file mode 100644 index 0000000000000000000000000000000000000000..adbd1a32028476c7eba4ae457b3ceb06ce742ea2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode867.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:614e9a8a0e5aa8708c832bef199567fa09a615b613c0712abe51f4abec8b24cf +size 36416 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode868.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode868.json new file mode 100644 index 0000000000000000000000000000000000000000..44f61a9b122fef9bbcc0cd95048768ea9ceb7683 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode868.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 868, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 102, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.15002799034118652, + "max_abs_articulated_22d": 0.15002799034118652, + "rms_24d": 0.027264360338449478, + "rms_articulated_22d": 0.028476696461439133 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode868.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode868.npy new file mode 100644 index 0000000000000000000000000000000000000000..90693d01f0e5cabea0043baba328e43a12d0b83e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode868.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dc29a620096ed7423b4e721873bf6cce12f540c25a96c5f1d067df6580eea4c +size 9920 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode869.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode869.json new file mode 100644 index 0000000000000000000000000000000000000000..e566b42f2bacd4dd3332f6ef39960ec48dc565a9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode869.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 869, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 123, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2269202172756195, + "max_abs_articulated_22d": 0.2269202172756195, + "rms_24d": 0.02206297032535076, + "rms_articulated_22d": 0.023044021800160408 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode869.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode869.npy new file mode 100644 index 0000000000000000000000000000000000000000..eacf138a72d99a5e3ef215f1e5b09f3874b8b921 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode869.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1a006922c81001ad1f866ca543569cb1b91737979462faa7cb9acdef345d249 +size 11936 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode87.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode87.json new file mode 100644 index 0000000000000000000000000000000000000000..dbc90601e4e416825ac8d9943c54b0a15707240d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode87.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 87, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 102, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.20368391275405884, + "max_abs_articulated_22d": 0.20368391275405884, + "rms_24d": 0.02415679767727852, + "rms_articulated_22d": 0.025230953469872475 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode87.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode87.npy new file mode 100644 index 0000000000000000000000000000000000000000..0ca040d0095674c3d487ed0b475bff6beead7208 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode87.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bf4ecfdd2051af96ae20d736b2d9e747a29276c42d7bd670671d24cefaff184 +size 9920 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode870.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode870.json new file mode 100644 index 0000000000000000000000000000000000000000..56a6b50b9272a40a69b89b1332d512d7fb5e4e8f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode870.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 870, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 136, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.21770107746124268, + "max_abs_articulated_22d": 0.21770107746124268, + "rms_24d": 0.027538102120161057, + "rms_articulated_22d": 0.028762610629200935 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode870.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode870.npy new file mode 100644 index 0000000000000000000000000000000000000000..4d98d534a4e3af320464a9e4870a7b77ff5fcde7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode870.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b4b86d3640befff4f1bbcb77c83f0c79b49d9aee88665a284e859b0a570f0e0 +size 13184 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode871.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode871.json new file mode 100644 index 0000000000000000000000000000000000000000..112dfaa789cf0f21ddc66951d6d5fabf5e7404dc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode871.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 871, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 128, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.29933685064315796, + "max_abs_articulated_22d": 0.29933685064315796, + "rms_24d": 0.036239247769117355, + "rms_articulated_22d": 0.03785065934062004 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode871.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode871.npy new file mode 100644 index 0000000000000000000000000000000000000000..d76309e59bf292ed77725aa305be1b7253c83c56 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode871.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09515983def38f425c5f87607d9bd6c76b88f27ae47a3b97e4b3de6bf1e6f561 +size 12416 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode872.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode872.json new file mode 100644 index 0000000000000000000000000000000000000000..1a349a905ce6fc57b6b8cad7b730b4c1f5868cd5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode872.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 872, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 278, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.421175092458725, + "max_abs_articulated_22d": 0.421175092458725, + "rms_24d": 0.0377950556576252, + "rms_articulated_22d": 0.03947564959526062 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode872.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode872.npy new file mode 100644 index 0000000000000000000000000000000000000000..16fff65b190d2ae0f7af9df3d1149b5359159eac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode872.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6771abc326e0f7de678ebe5c8668004c56b78fc532a9d39caadfe379dc7023a7 +size 26816 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode873.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode873.json new file mode 100644 index 0000000000000000000000000000000000000000..585990f481a1838a4453885b7403dddfd1efd40d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode873.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 873, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 186, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5379405617713928, + "max_abs_articulated_22d": 0.5379405617713928, + "rms_24d": 0.038737472146749496, + "rms_articulated_22d": 0.040459971874952316 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode873.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode873.npy new file mode 100644 index 0000000000000000000000000000000000000000..83bcbc5a88ecbfb03259e70df80d38f68a2687d3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode873.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e40d17351ee9b435b5e219368ceec9f114f0fe63f32e73826fcf9d322eae9381 +size 17984 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode874.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode874.json new file mode 100644 index 0000000000000000000000000000000000000000..aa0f4e8c00da6e02f2d56207aacf3c77bc60b4b9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode874.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 874, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 192, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.13015511631965637, + "max_abs_articulated_22d": 0.13015511631965637, + "rms_24d": 0.020272737368941307, + "rms_articulated_22d": 0.02117418311536312 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode874.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode874.npy new file mode 100644 index 0000000000000000000000000000000000000000..4486b98cd702405d0d1c6f47a2e554813e2c1392 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode874.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a129f433e99c24737c3e791745d09c3ed14161468a09c7359da752eb9a3bfb4f +size 18560 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode875.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode875.json new file mode 100644 index 0000000000000000000000000000000000000000..984103cc28f286cab3ada76e4da0ccc5663452bc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode875.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 875, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 162, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.17441552877426147, + "max_abs_articulated_22d": 0.17441552877426147, + "rms_24d": 0.023905029520392418, + "rms_articulated_22d": 0.024967988952994347 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode875.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode875.npy new file mode 100644 index 0000000000000000000000000000000000000000..550df6d2f9f82ebf93b4fa8b9803139662e3de7d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode875.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0362e1994c606a079aaf9e921bfbc9eeab367e741c162c28bb0361cb1bd2ff0 +size 15680 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode876.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode876.json new file mode 100644 index 0000000000000000000000000000000000000000..08ce0d50f9ad885f06dc11fb7d86e85862ce3643 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode876.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 876, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 741, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19418728351593018, + "max_abs_articulated_22d": 0.19418728351593018, + "rms_24d": 0.019383298233151436, + "rms_articulated_22d": 0.02024519443511963 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode876.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode876.npy new file mode 100644 index 0000000000000000000000000000000000000000..a2ae9f8783de8c383d2a41561deb6c06acdb07fd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode876.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:503fcb8bf7525ab6f7a50df4acdeb6265f8c709c32e4350f58bda2e1a01af9c4 +size 71264 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode877.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode877.json new file mode 100644 index 0000000000000000000000000000000000000000..c91d54a5a671880c433c62e2ec8d6cf104839a37 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode877.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 877, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 135, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.21179378032684326, + "max_abs_articulated_22d": 0.21179378032684326, + "rms_24d": 0.034527964890003204, + "rms_articulated_22d": 0.03606328368186951 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode877.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode877.npy new file mode 100644 index 0000000000000000000000000000000000000000..191b67c622839c775d8c1053d8e2f64f0dc529f5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode877.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:003cfd435d1b643de1d50d3ee376323a11d508a9b8743063051e18170e0c98aa +size 13088 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode878.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode878.json new file mode 100644 index 0000000000000000000000000000000000000000..a3fd847e4b69e78774a19a5bebe6b80bf6be5dac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode878.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 878, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 121, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3144635260105133, + "max_abs_articulated_22d": 0.3144635260105133, + "rms_24d": 0.036471717059612274, + "rms_articulated_22d": 0.03809347003698349 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode878.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode878.npy new file mode 100644 index 0000000000000000000000000000000000000000..4e8a335564e39c4bce39bba0b6afaa9e94dde985 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode878.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0b5f732c11c7c6945158c3495d063e01dba70671e7a9eb8ea22fdea0040db52 +size 11744 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode879.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode879.json new file mode 100644 index 0000000000000000000000000000000000000000..05953cd8252da90ac75aee47c09d8e8e64a6babd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode879.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 879, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 118, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6654096245765686, + "max_abs_articulated_22d": 0.6654096245765686, + "rms_24d": 0.06201745197176933, + "rms_articulated_22d": 0.06477511674165726 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode879.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode879.npy new file mode 100644 index 0000000000000000000000000000000000000000..80fc89d5806d1eda3561ca35b29edcbdb1a41d46 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode879.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e48ff9c6261abfc970a420471769b8e8da5b22000f5c66f0fb5c87dff84e7a6d +size 11456 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode88.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode88.json new file mode 100644 index 0000000000000000000000000000000000000000..6dddc23069bb3e52086801235c351a2c7c0c96a5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode88.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 88, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 172, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.20057374238967896, + "max_abs_articulated_22d": 0.20057374238967896, + "rms_24d": 0.03322545811533928, + "rms_articulated_22d": 0.034702859818935394 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode88.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode88.npy new file mode 100644 index 0000000000000000000000000000000000000000..8c884a8835336efb266040643b289d571377897d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode88.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edcc24ff883e8af18fb07877d05eb1a0513f577c04a1d3a2d5355bed6a4ae018 +size 16640 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode880.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode880.json new file mode 100644 index 0000000000000000000000000000000000000000..96adb0bd5544386b87aca18929e87d4e2b672923 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode880.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 880, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 117, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.315066397190094, + "max_abs_articulated_22d": 0.315066397190094, + "rms_24d": 0.03363677114248276, + "rms_articulated_22d": 0.03513246402144432 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode880.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode880.npy new file mode 100644 index 0000000000000000000000000000000000000000..500530050e551cc15714dbb899fbb4af447b87e2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode880.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:338825e4a570bbbdd06c22fa04374352ee46b5015129b53fdaec60e46b661a40 +size 11360 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode881.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode881.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d0042de630a22cb94064714ee22733e0774e97 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode881.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 881, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 195, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.382326602935791, + "max_abs_articulated_22d": 0.382326602935791, + "rms_24d": 0.053681422024965286, + "rms_articulated_22d": 0.05606841668486595 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode881.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode881.npy new file mode 100644 index 0000000000000000000000000000000000000000..9965beb3de36aaee1586e8fa50678d868fce8529 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode881.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b396a4d2f7924686f0e8c17c44aefc9dccaf388c54587a59d8f1b3353078ca2 +size 18848 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode882.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode882.json new file mode 100644 index 0000000000000000000000000000000000000000..209746a2b680ef7c98445939f3fde5659f7f537c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode882.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 882, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 105, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2553393542766571, + "max_abs_articulated_22d": 0.2553393542766571, + "rms_24d": 0.03712251037359238, + "rms_articulated_22d": 0.038773197680711746 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode882.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode882.npy new file mode 100644 index 0000000000000000000000000000000000000000..2c75188e3a16d11abc99be9363b0679bc1ee12e8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode882.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:865c93bd266764e79ca98ec2c3e61b69d317bd584d3da8826ae7989a9c3d9ed1 +size 10208 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode883.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode883.json new file mode 100644 index 0000000000000000000000000000000000000000..f36bfd55f4dc158750beddd1614daa5cd2922c10 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode883.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 883, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 104, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.28116512298583984, + "max_abs_articulated_22d": 0.28116512298583984, + "rms_24d": 0.0501665435731411, + "rms_articulated_22d": 0.052397243678569794 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode883.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode883.npy new file mode 100644 index 0000000000000000000000000000000000000000..2efa68930a0ad9196c0a04ee8dd6f843d18506db --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode883.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a61d3e72bf8acc428e475acbe6e2f1259a9cfc49ce301468c868fbe13d6d1d3 +size 10112 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode884.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode884.json new file mode 100644 index 0000000000000000000000000000000000000000..f638690e5632c58eb361ded4595081a0afe8aadd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode884.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 884, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 116, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.25901129841804504, + "max_abs_articulated_22d": 0.25901129841804504, + "rms_24d": 0.027724269777536392, + "rms_articulated_22d": 0.028957055881619453 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode884.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode884.npy new file mode 100644 index 0000000000000000000000000000000000000000..b1a810201dd51f2dd3aaaaa01c2efff04b88ab2a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode884.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ba46275f115bdd7a34b7cf9b1eaeb81efb3990302074bc69fa33573f4088c47 +size 11264 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode885.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode885.json new file mode 100644 index 0000000000000000000000000000000000000000..eb007d7bd029bcd1b871ff9ae12b54cdbd17716e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode885.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 885, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 118, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5136244297027588, + "max_abs_articulated_22d": 0.5136244297027588, + "rms_24d": 0.05998678877949715, + "rms_articulated_22d": 0.06265415996313095 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode885.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode885.npy new file mode 100644 index 0000000000000000000000000000000000000000..3edcf14ee30dc15c6f59d3deddf928527c54f556 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode885.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc476375073ec64e4a94499bd9b83410c5c1b71acc35cefe41ccfebdc9691d07 +size 11456 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode886.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode886.json new file mode 100644 index 0000000000000000000000000000000000000000..e1caae3682e67696f30e332a2443fb7f7b7da7d0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode886.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 886, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 234, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1545565128326416, + "max_abs_articulated_22d": 0.1545565128326416, + "rms_24d": 0.01875685714185238, + "rms_articulated_22d": 0.019590899348258972 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode886.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode886.npy new file mode 100644 index 0000000000000000000000000000000000000000..43f01631d69ffc003c710e43451fe6a5de83841f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode886.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34bdd6ac82890c8d23389a78ba75b62cf7240a7a8108b9c089e8a2ce7cb0e35a +size 22592 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode887.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode887.json new file mode 100644 index 0000000000000000000000000000000000000000..17c1bf6b74ac004451f57cb845348bee799cd08c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode887.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 887, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 528, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3568747639656067, + "max_abs_articulated_22d": 0.3568747639656067, + "rms_24d": 0.025515908375382423, + "rms_articulated_22d": 0.02665049582719803 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode887.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode887.npy new file mode 100644 index 0000000000000000000000000000000000000000..ff1269410cf1633652b4915ba2c2d7c78968c6c8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode887.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a8ad611520f2dd0368ef5d0d559b0c8096e093add6ac235e656566565194be0 +size 50816 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode888.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode888.json new file mode 100644 index 0000000000000000000000000000000000000000..b986ea4a72780bf86b60e8f7758e1c809bc2b672 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode888.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 888, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 431, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.21135355532169342, + "max_abs_articulated_22d": 0.21135355532169342, + "rms_24d": 0.02178981900215149, + "rms_articulated_22d": 0.022758724167943 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode888.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode888.npy new file mode 100644 index 0000000000000000000000000000000000000000..55c3926238cb264f71e2cad53b09fcf13ac91dcf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode888.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:164afa289b1d76fc4508147f44b2fb436cb6c19ce8b7821e1f47858020fe061d +size 41504 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode889.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode889.json new file mode 100644 index 0000000000000000000000000000000000000000..790c84da3922e11a48f4ce21628c24aa3e65d170 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode889.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 889, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 131, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.13103801012039185, + "max_abs_articulated_22d": 0.13103801012039185, + "rms_24d": 0.02244456298649311, + "rms_articulated_22d": 0.023442581295967102 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode889.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode889.npy new file mode 100644 index 0000000000000000000000000000000000000000..1faa2eff014d3a27d636e0f37c44c58f98d62819 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode889.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:627021133e8ca474f08ff98b7ea5a57b03e2b51547510903bf2516b96cff7239 +size 12704 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode89.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode89.json new file mode 100644 index 0000000000000000000000000000000000000000..87c400aa36d8f645f523d0e5335e0a922508cb8c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode89.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 89, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 106, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.21947342157363892, + "max_abs_articulated_22d": 0.21947342157363892, + "rms_24d": 0.02488071843981743, + "rms_articulated_22d": 0.025987064465880394 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode89.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode89.npy new file mode 100644 index 0000000000000000000000000000000000000000..329a074ef4db04ccbfd708e5a9064d6772259de8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode89.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee864ee14411691b836c2e2291fa394a0eda93c4af5ec9a66a413172b493c694 +size 10304 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode890.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode890.json new file mode 100644 index 0000000000000000000000000000000000000000..b39bfc2afa9f6e3a964e95f2e0568a93435922b6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode890.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 890, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 890, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6223136186599731, + "max_abs_articulated_22d": 0.6223136186599731, + "rms_24d": 0.031245268881320953, + "rms_articulated_22d": 0.03263461962342262 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode890.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode890.npy new file mode 100644 index 0000000000000000000000000000000000000000..75047ad6711cb6705683fff6e017fd035452c3d1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode890.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b78bfcbce5cab58c7c40ecda614fdeeb17e27f86e14dff5444afbab7656184e4 +size 85568 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode891.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode891.json new file mode 100644 index 0000000000000000000000000000000000000000..370adc3e949717d0e5b973ccb2fc69872f41d6f3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode891.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 891, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 122, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2804914116859436, + "max_abs_articulated_22d": 0.2804914116859436, + "rms_24d": 0.043512653559446335, + "rms_articulated_22d": 0.04544748365879059 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode891.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode891.npy new file mode 100644 index 0000000000000000000000000000000000000000..f43c21dcaee65ea23833f37c9dee1f5b20699421 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode891.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0918b9edb398d58a5b8aa0d683b29223c2e30282085b267c21885f2b8cb7d20 +size 11840 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode892.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode892.json new file mode 100644 index 0000000000000000000000000000000000000000..3d7e68833f20d967085b793bfa262709ebd91acc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode892.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 892, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 116, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.25523126125335693, + "max_abs_articulated_22d": 0.25523126125335693, + "rms_24d": 0.035393428057432175, + "rms_articulated_22d": 0.03696722909808159 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode892.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode892.npy new file mode 100644 index 0000000000000000000000000000000000000000..1b5d104cc397faad1861f0c3e58c4c3178f05eeb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode892.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9671ac75663da157a353f669a8e632850fb70a615bae10cdad22c4de4a4a6b1b +size 11264 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode893.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode893.json new file mode 100644 index 0000000000000000000000000000000000000000..aed93fa269c7f6cef7cc2cc927e90f708a013506 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode893.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 893, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 155, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19684293866157532, + "max_abs_articulated_22d": 0.19684293866157532, + "rms_24d": 0.025490939617156982, + "rms_articulated_22d": 0.026624418795108795 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode893.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode893.npy new file mode 100644 index 0000000000000000000000000000000000000000..b06264c81b08a031b274f8576fc233ae588aa9d0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode893.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e79eca47530dd9fd3771d90674b2132769d8cee5ad931e898ef4ec74c875b1b8 +size 15008 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode894.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode894.json new file mode 100644 index 0000000000000000000000000000000000000000..99896c6d133174379605e672f2dc62ba264ba8ec --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode894.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 894, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 480, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.28628867864608765, + "max_abs_articulated_22d": 0.28628867864608765, + "rms_24d": 0.02470145933330059, + "rms_articulated_22d": 0.025799833238124847 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode894.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode894.npy new file mode 100644 index 0000000000000000000000000000000000000000..202c676a8dfada2542d1538c2868988e432e34b6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode894.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe6fecff7dcb3a23051e3911aa3617d526eac9a79c149d435a4f0e2a2b0e5892 +size 46208 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode895.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode895.json new file mode 100644 index 0000000000000000000000000000000000000000..425e1fa74c2bcd074b02fe544793d4b177c3c5bc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode895.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 895, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 409, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3148459196090698, + "max_abs_articulated_22d": 0.3148459196090698, + "rms_24d": 0.026419613510370255, + "rms_articulated_22d": 0.02759438566863537 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode895.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode895.npy new file mode 100644 index 0000000000000000000000000000000000000000..99470f6e47dba7d2613a9b2f09a9f013ed89a2d5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode895.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:025349a0867067ddc276ac89e5f9a1f7bfd1f031a455c2cb1982d28b7f7a13a9 +size 39392 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode896.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode896.json new file mode 100644 index 0000000000000000000000000000000000000000..b13694b91a9d74908c0b42985d609fef7afd55dc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode896.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 896, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 823, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.40483981370925903, + "max_abs_articulated_22d": 0.40483981370925903, + "rms_24d": 0.02629132568836212, + "rms_articulated_22d": 0.02746039442718029 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode896.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode896.npy new file mode 100644 index 0000000000000000000000000000000000000000..0be71294d3d36a636f5b30604ef07911821319fd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode896.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e03ca7920027d59cc1e04ad6e97cf42c26afd474cd5c02570825c647e73b6a5e +size 79136 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode897.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode897.json new file mode 100644 index 0000000000000000000000000000000000000000..c7fe6aab75723baeed7f226a84506581e3170e50 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode897.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 897, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 144, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.13824257254600525, + "max_abs_articulated_22d": 0.13824257254600525, + "rms_24d": 0.024232087656855583, + "rms_articulated_22d": 0.025309592485427856 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode897.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode897.npy new file mode 100644 index 0000000000000000000000000000000000000000..9adb58cff2bb3aedc63f55d80945636c8d405a4b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode897.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e11c54665744a36d349e98e1b36e4ab6f26fe8b70db98d0bd1407162e73bbbc +size 13952 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode898.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode898.json new file mode 100644 index 0000000000000000000000000000000000000000..0f7d9bf43d198f57281d1877ab188b9e3e46b7a0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode898.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 898, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 202, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.37115275859832764, + "max_abs_articulated_22d": 0.37115275859832764, + "rms_24d": 0.040428925305604935, + "rms_articulated_22d": 0.0422266386449337 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode898.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode898.npy new file mode 100644 index 0000000000000000000000000000000000000000..731a633f2154d9aac8b303354933343ae8951249 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode898.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:499539f3f99d649f6ac2c57985e99b3815c64a01b33f5362e353d016fcfd4c36 +size 19520 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode899.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode899.json new file mode 100644 index 0000000000000000000000000000000000000000..a1d33d70ea2fafe50dcef51b6c6469fef8ca02a0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode899.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 899, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 155, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4067153334617615, + "max_abs_articulated_22d": 0.4067153334617615, + "rms_24d": 0.04299040883779526, + "rms_articulated_22d": 0.0449020192027092 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode899.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode899.npy new file mode 100644 index 0000000000000000000000000000000000000000..4dcf6b49a1d569bc26422efebbc8001cfdbe0fa4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode899.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86430af721bdcf6a3d9960bc51a358b3555a3475ad83607bdd7aeeffe272c992 +size 15008 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode9.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..bb625bd6e9fd53525432d75cdb4fa87d9a828d89 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode9.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 9, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 135, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5172834992408752, + "max_abs_articulated_22d": 0.5172834992408752, + "rms_24d": 0.05012187361717224, + "rms_articulated_22d": 0.05235058814287186 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode9.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode9.npy new file mode 100644 index 0000000000000000000000000000000000000000..8bc8892e423ede2a8e93d9dc02c404bd724ab867 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode9.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91e98e12aae9cf8e26610d1a15d37ad0ab5ff73f427957328f0d8e7841bd8168 +size 13088 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode90.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode90.json new file mode 100644 index 0000000000000000000000000000000000000000..84c8746899d983827504dafb87644f73c1908882 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode90.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 90, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 117, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.29708850383758545, + "max_abs_articulated_22d": 0.29708850383758545, + "rms_24d": 0.0469682440161705, + "rms_articulated_22d": 0.04905673488974571 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode90.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode90.npy new file mode 100644 index 0000000000000000000000000000000000000000..26a995fff5f7d146f42653e351cd64b27fcbc4e8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode90.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c34f6359800580c6be90c5ba46ea724b1c14ad785b9fe9225990ef98db980e3 +size 11360 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode900.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode900.json new file mode 100644 index 0000000000000000000000000000000000000000..8888e55b74ab2ef7cf66f3619d83a1fb576bdee3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode900.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 900, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 150, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.814690113067627, + "max_abs_articulated_22d": 0.814690113067627, + "rms_24d": 0.10033433884382248, + "rms_articulated_22d": 0.10479579865932465 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode900.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode900.npy new file mode 100644 index 0000000000000000000000000000000000000000..b9abacb13b26bb28fc1f1f2161c5fe18a55ce04b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode900.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08f9372c6a74f84ae0ec5b2831cda3e05cd60000f2808240fca77a4c180b867f +size 14528 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode901.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode901.json new file mode 100644 index 0000000000000000000000000000000000000000..a12137ae0fb1058bbe078e34508ccb3074ee73da --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode901.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 901, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 898, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5153273344039917, + "max_abs_articulated_22d": 0.5153273344039917, + "rms_24d": 0.032635513693094254, + "rms_articulated_22d": 0.0340866819024086 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode901.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode901.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6840c08c694e333c0351c77daf283b29fc87a1c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode901.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e13112370225f3a27f9d922b56a16455fbdd0f4bc3bc850bf4dea515c688c12 +size 86336 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode902.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode902.json new file mode 100644 index 0000000000000000000000000000000000000000..32507ca1961d7f20804a150c7f775dd7f20639ae --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode902.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 902, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 1519, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.24433904886245728, + "max_abs_articulated_22d": 0.24433904886245728, + "rms_24d": 0.022633124142885208, + "rms_articulated_22d": 0.023639526218175888 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode902.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode902.npy new file mode 100644 index 0000000000000000000000000000000000000000..649c266b2939ce9f327f28d0bcf1323186714ad1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode902.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b20b7cf4608b7cf22844a5cadca8667efac1a7cb68fcb2f7442715d2f76fa122 +size 145952 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode903.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode903.json new file mode 100644 index 0000000000000000000000000000000000000000..40aaf9f1475da071ceeb892622b741e1fbec75a3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode903.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 903, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 103, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.12368559837341309, + "max_abs_articulated_22d": 0.12368559837341309, + "rms_24d": 0.02052314020693302, + "rms_articulated_22d": 0.021435720846056938 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode903.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode903.npy new file mode 100644 index 0000000000000000000000000000000000000000..393955200ff0597a7b8a5402df6f4b73df0c09cd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode903.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15372ff9dd7a32d584934e2743010c7db19a7c491218c371587d8459a655d03a +size 10016 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode904.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode904.json new file mode 100644 index 0000000000000000000000000000000000000000..bab8b59a76ea06af754b210dcf154ad2fee60e36 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode904.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 904, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 193, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5799185633659363, + "max_abs_articulated_22d": 0.5799185633659363, + "rms_24d": 0.04771361127495766, + "rms_articulated_22d": 0.049835238605737686 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode904.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode904.npy new file mode 100644 index 0000000000000000000000000000000000000000..3a3cab2233192601418309c292d4b70044d3b10c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode904.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81a1a25ddaa9219044ad7fc8e0a2ef048a083ed297709fdfa8002f402ed1cd3f +size 18656 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode905.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode905.json new file mode 100644 index 0000000000000000000000000000000000000000..625692f2798ee948597be62e9113dc819bb1e71e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode905.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 905, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 113, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.22565245628356934, + "max_abs_articulated_22d": 0.22565245628356934, + "rms_24d": 0.03160757198929787, + "rms_articulated_22d": 0.033013034611940384 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode905.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode905.npy new file mode 100644 index 0000000000000000000000000000000000000000..2170870930bd8bb17af1c77a5631a8d978dc52ac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode905.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45baef824ae166c77b09789ae457e49fa2dd6cd5a51de57b998033ee9f62f408 +size 10976 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode906.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode906.json new file mode 100644 index 0000000000000000000000000000000000000000..c14e017d65d7b712fa926c842541e1f276c64811 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode906.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 906, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 144, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.22539758682250977, + "max_abs_articulated_22d": 0.22539758682250977, + "rms_24d": 0.022912614047527313, + "rms_articulated_22d": 0.02393144555389881 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode906.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode906.npy new file mode 100644 index 0000000000000000000000000000000000000000..a03177bc4c22da837e43d614e38fd32ffb6d8d6a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode906.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87e39c0514fcad43330705ce3c54d639f4750dca8ba44b66b80b39de030dbcdb +size 13952 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode907.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode907.json new file mode 100644 index 0000000000000000000000000000000000000000..cc216bbad9a6dba78ac7c63a14bc09aa2146c9ce --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode907.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 907, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 109, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.28063350915908813, + "max_abs_articulated_22d": 0.28063350915908813, + "rms_24d": 0.04115431755781174, + "rms_articulated_22d": 0.04298428073525429 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode907.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode907.npy new file mode 100644 index 0000000000000000000000000000000000000000..6a57c562e00f1f70f126b627bbfe3cb184d26795 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode907.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:076f4fd60729baf9e419192cdda4ac4ee8aa031d8b2559ee0dad08a2ab018414 +size 10592 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode908.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode908.json new file mode 100644 index 0000000000000000000000000000000000000000..390563c1d9e5a3c548af07d59f6a2cf596e94757 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode908.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 908, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 562, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.33159685134887695, + "max_abs_articulated_22d": 0.33159685134887695, + "rms_24d": 0.034382548183202744, + "rms_articulated_22d": 0.035911399871110916 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode908.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode908.npy new file mode 100644 index 0000000000000000000000000000000000000000..795482d14730b55fc76e22995195f4fc2dbf2ed1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode908.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbec5aa802e219b964f19ef7cfd1f246b0b5081945591f8b021fcb31724f0fee +size 54080 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode909.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode909.json new file mode 100644 index 0000000000000000000000000000000000000000..77206a1417409697137a6f041a8e89451f2b71f3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode909.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 909, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 809, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.26240044832229614, + "max_abs_articulated_22d": 0.26240044832229614, + "rms_24d": 0.02274460531771183, + "rms_articulated_22d": 0.023755963891744614 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode909.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode909.npy new file mode 100644 index 0000000000000000000000000000000000000000..9be2ccc9a3462be56d457a62c654ce0a5eaa882c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode909.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:526d8573a3296f8f635d882ae9379c793f7d376c5592df1ed33edfd367cd0dfb +size 77792 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode91.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode91.json new file mode 100644 index 0000000000000000000000000000000000000000..957ea42955a16995d1c8a575cd82712a4a7ecb0c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode91.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 91, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 155, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.21493297815322876, + "max_abs_articulated_22d": 0.21493297815322876, + "rms_24d": 0.03243967145681381, + "rms_articulated_22d": 0.03388213366270065 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode91.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode91.npy new file mode 100644 index 0000000000000000000000000000000000000000..635b1e5cde85557975cdb0be6433fed6b5676a68 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode91.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0404b37066ad338038efe2b00de892dff81f67aa2775ec8e1cc1a4e5bb7d39e5 +size 15008 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode910.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode910.json new file mode 100644 index 0000000000000000000000000000000000000000..e7e1071f17caaede04b54ac8b422679b1f8c2b32 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode910.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 910, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 204, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5101833939552307, + "max_abs_articulated_22d": 0.5101833939552307, + "rms_24d": 0.030475443229079247, + "rms_articulated_22d": 0.0318305604159832 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode910.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode910.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbd01c7afb799cbe73e8a4db6b9e0f0b7d4f0720 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode910.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e0baccfc236e368498c0f03821d0709894c39993ab10241dc1ee254febf1463 +size 19712 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode911.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode911.json new file mode 100644 index 0000000000000000000000000000000000000000..3ab30003a29b80e52d7e59131609d31093543143 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode911.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 911, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 621, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.311444491147995, + "max_abs_articulated_22d": 0.311444491147995, + "rms_24d": 0.0267100278288126, + "rms_articulated_22d": 0.02789771370589733 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode911.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode911.npy new file mode 100644 index 0000000000000000000000000000000000000000..2d771e96dec0087bd21329218b264a506bf39346 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode911.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a340219b0633ae03caca8542bfd606fd754b40594f2cfe6f8698cf74e27e4255 +size 59744 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode912.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode912.json new file mode 100644 index 0000000000000000000000000000000000000000..18c9954a9842852bfa6727ad5cc9d5cb64876cc0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode912.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 912, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 140, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5839146375656128, + "max_abs_articulated_22d": 0.5839146375656128, + "rms_24d": 0.04774286225438118, + "rms_articulated_22d": 0.04986579716205597 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode912.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode912.npy new file mode 100644 index 0000000000000000000000000000000000000000..7ed78a35dd816ba6ec73b48790084ad025c1518d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode912.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4e77b7fb44d3bfbce8ed055175ea770bfd83ed46b1556380d98b11fa8477a4f +size 13568 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode913.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode913.json new file mode 100644 index 0000000000000000000000000000000000000000..6ca91616127f763b2f79a7f9742c3aa404fd577b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode913.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 913, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 126, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.18640077114105225, + "max_abs_articulated_22d": 0.18640077114105225, + "rms_24d": 0.022672638297080994, + "rms_articulated_22d": 0.023680800572037697 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode913.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode913.npy new file mode 100644 index 0000000000000000000000000000000000000000..f8a502f67d9f3aaa0078462da9da83c2040f7060 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode913.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f0c301625aa1a4091f76b909d8063eb0f72ea4a943585481d8e9bf977cac38c +size 12224 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode914.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode914.json new file mode 100644 index 0000000000000000000000000000000000000000..64309b81d2786ba5606f8f39219c945a7e4fac04 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode914.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 914, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 136, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4115296006202698, + "max_abs_articulated_22d": 0.4115296006202698, + "rms_24d": 0.05004571005702019, + "rms_articulated_22d": 0.0522710382938385 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode914.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode914.npy new file mode 100644 index 0000000000000000000000000000000000000000..cfa6b2cd75b1761781c5383fc3ad799d0df2df5e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode914.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61507b7b8b171cc3ec238ebdfde5a178d4aaebb003822b8efc8330931529661b +size 13184 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode915.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode915.json new file mode 100644 index 0000000000000000000000000000000000000000..9023bb979a896813a70dfbc075332609c1fb9c2f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode915.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 915, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 137, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3272719383239746, + "max_abs_articulated_22d": 0.3272719383239746, + "rms_24d": 0.03350117430090904, + "rms_articulated_22d": 0.0349908322095871 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode915.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode915.npy new file mode 100644 index 0000000000000000000000000000000000000000..dd207b2192204f9966b1c888d6a5f910d1777df8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode915.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bfb1823e8effed706192c8614ef61b0ba097bcb8a73c3721dcb266e4bd35077 +size 13280 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode916.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode916.json new file mode 100644 index 0000000000000000000000000000000000000000..67fe32fc4cefb97b823b7ea15c458fa81db91b2c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode916.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 916, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 143, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6544955968856812, + "max_abs_articulated_22d": 0.6544955968856812, + "rms_24d": 0.06644350290298462, + "rms_articulated_22d": 0.06939797103404999 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode916.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode916.npy new file mode 100644 index 0000000000000000000000000000000000000000..9366da2cac07454a80831f4e9fbf4fb7f76357f8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode916.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71033737eb351b5e8fb74c77e81d854b46ffc6d7b06d73748f2464106c063c96 +size 13856 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode917.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode917.json new file mode 100644 index 0000000000000000000000000000000000000000..a3cefc11693c7c6b5befad5b756ea77c2479dbaa --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode917.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 917, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 171, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2887135446071625, + "max_abs_articulated_22d": 0.2887135446071625, + "rms_24d": 0.04298913851380348, + "rms_articulated_22d": 0.04490068554878235 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode917.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode917.npy new file mode 100644 index 0000000000000000000000000000000000000000..457999ddf1c2b298fdfd866ace2cf5dd0d56a669 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode917.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba5461bda57a80b70d4cbecbdf49f6631e4f65707d42ab1d789b771c61cc6ad2 +size 16544 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode918.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode918.json new file mode 100644 index 0000000000000000000000000000000000000000..0cdfc435b790abc590e2387bcbb8655d2cb4afc1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode918.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 918, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 124, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3691861033439636, + "max_abs_articulated_22d": 0.3691861033439636, + "rms_24d": 0.05028682202100754, + "rms_articulated_22d": 0.052522871643304825 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode918.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode918.npy new file mode 100644 index 0000000000000000000000000000000000000000..d9cd9a3c71feea274caf045161f6809687a8a93e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode918.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d70c185cf3e9dedc4f26e2c6275500b852a8a58b76d166c55f65f0d33140aac8 +size 12032 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode919.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode919.json new file mode 100644 index 0000000000000000000000000000000000000000..2380c616aab058a2b6c803c1de44b8ab0a80b302 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode919.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 919, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 117, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.31995582580566406, + "max_abs_articulated_22d": 0.31995582580566406, + "rms_24d": 0.028992660343647003, + "rms_articulated_22d": 0.03028184548020363 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode919.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode919.npy new file mode 100644 index 0000000000000000000000000000000000000000..ae81619463e0b1ab34e809b64e3c4f4ef3f01a16 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode919.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33d38b48d1dab79d4f801076c36492695407d4866778abc85fbc6624272fb1ca +size 11360 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode92.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode92.json new file mode 100644 index 0000000000000000000000000000000000000000..e6039a98da32def00edacde65b7e29993e0b32b1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode92.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 92, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 111, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2723590135574341, + "max_abs_articulated_22d": 0.2723590135574341, + "rms_24d": 0.03684041649103165, + "rms_articulated_22d": 0.038478560745716095 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode92.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode92.npy new file mode 100644 index 0000000000000000000000000000000000000000..26963fb6ad50a68ddc063de4bef725209f06e3e6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode92.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59e856b729812688bf33903350d0a5c8e672e095ef213f6a6d500e10f002855e +size 10784 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode920.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode920.json new file mode 100644 index 0000000000000000000000000000000000000000..5acd723fb1eba9d95737e93f03cdaad49b142754 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode920.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 920, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 102, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.204120934009552, + "max_abs_articulated_22d": 0.204120934009552, + "rms_24d": 0.025184517726302147, + "rms_articulated_22d": 0.026304367929697037 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode920.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode920.npy new file mode 100644 index 0000000000000000000000000000000000000000..57415cbfc268ef933a2e68421534ed1d479120c1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode920.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4560c158a9f2aaf86b2d7b2a3575da771e0c3fbcf91d8dcfe114b54f2b270751 +size 9920 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode921.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode921.json new file mode 100644 index 0000000000000000000000000000000000000000..c15036b46c574bc54c285d601dde1b798f344dc4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode921.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 921, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 971, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.7116994261741638, + "max_abs_articulated_22d": 0.7116994261741638, + "rms_24d": 0.03082035854458809, + "rms_articulated_22d": 0.03219081461429596 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode921.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode921.npy new file mode 100644 index 0000000000000000000000000000000000000000..3eaf524940642d39fa80847e71e0fd035192c9b7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode921.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc56c94ec900c68a2d2b408b1ba6b3e13531614b3a87ddcef3921b68e46038d1 +size 93344 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode922.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode922.json new file mode 100644 index 0000000000000000000000000000000000000000..dd1dd2c623b8323db5467a28aaf2b53a9682e8f3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode922.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 922, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 1128, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.39818471670150757, + "max_abs_articulated_22d": 0.39818471670150757, + "rms_24d": 0.02722688764333725, + "rms_articulated_22d": 0.028437558561563492 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode922.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode922.npy new file mode 100644 index 0000000000000000000000000000000000000000..555f7d51a2d80df2a4342712d77996231d50034b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode922.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17f0d877a1c0396c65963dcba88d7c6b8733394436eaaeffa19f7454866f5c10 +size 108416 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode923.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode923.json new file mode 100644 index 0000000000000000000000000000000000000000..cf49aca7ea09d016eaa4e182e367b0219bc5e134 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode923.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 923, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 106, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19163835048675537, + "max_abs_articulated_22d": 0.19163835048675537, + "rms_24d": 0.022141801193356514, + "rms_articulated_22d": 0.023126358166337013 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode923.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode923.npy new file mode 100644 index 0000000000000000000000000000000000000000..82c2a48508777115821f43857090ab3db958361b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode923.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6564321ff918635ac90fc5bc33041c25cd53a59e0b6e751facfc2c539eb78a08 +size 10304 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode924.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode924.json new file mode 100644 index 0000000000000000000000000000000000000000..af0b3a6801035b336b322eaf00228fe07619b99e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode924.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 924, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 273, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.8505635261535645, + "max_abs_articulated_22d": 0.8505635261535645, + "rms_24d": 0.06899993121623993, + "rms_articulated_22d": 0.07206808030605316 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode924.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode924.npy new file mode 100644 index 0000000000000000000000000000000000000000..01e509e1974d18d32cd3fc6e4a5059ada359ae32 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode924.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f63bcc66ffc81872433ffffa25abac04c0cac0bf62d05288e8591bb339e64b0 +size 26336 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode925.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode925.json new file mode 100644 index 0000000000000000000000000000000000000000..8c2b5ede3e958c632ef873bb2511d77c41ccacaa --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode925.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 925, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 168, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.45703139901161194, + "max_abs_articulated_22d": 0.45703139901161194, + "rms_24d": 0.03905874118208885, + "rms_articulated_22d": 0.040795523673295975 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode925.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode925.npy new file mode 100644 index 0000000000000000000000000000000000000000..86c153761705cd1602bfd41286a5c3398c8b17ee --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode925.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23e368d88eefedf82ebb0e28d33d7fe77a0f4795b90eb15412a5953bef4025b8 +size 16256 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode926.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode926.json new file mode 100644 index 0000000000000000000000000000000000000000..3b8e888a3b67341ebc1e0e792f099936524dd981 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode926.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 926, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 119, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4668702185153961, + "max_abs_articulated_22d": 0.4668702185153961, + "rms_24d": 0.04605890065431595, + "rms_articulated_22d": 0.048106953501701355 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode926.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode926.npy new file mode 100644 index 0000000000000000000000000000000000000000..2f1e406507f91ed3c2d0e03236f3fdf942d273d5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode926.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cf87a3b485593dd8a6f54d764c5ac3e8defd51e8e2e88e4926757155524c048 +size 11552 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode927.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode927.json new file mode 100644 index 0000000000000000000000000000000000000000..14cd985eab4ea89f8becbdb4053f913dc6e0dfe7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode927.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 927, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 201, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.20591557025909424, + "max_abs_articulated_22d": 0.20591557025909424, + "rms_24d": 0.027123991400003433, + "rms_articulated_22d": 0.028330085799098015 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode927.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode927.npy new file mode 100644 index 0000000000000000000000000000000000000000..cbef906587e9bc1e48d4e16f7da911de9e5ecc3f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode927.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e017137cdb566d46c0f963dba5398e4206c8618f45ea7f332e3229d8b135a5b5 +size 19424 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode928.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode928.json new file mode 100644 index 0000000000000000000000000000000000000000..e22dbef264f8b10a9fac91363f51f9f5f4123be7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode928.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 928, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 409, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19009941816329956, + "max_abs_articulated_22d": 0.19009941816329956, + "rms_24d": 0.027835668995976448, + "rms_articulated_22d": 0.029073409736156464 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode928.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode928.npy new file mode 100644 index 0000000000000000000000000000000000000000..29a050d5c693639dd8c050b3df07d837a84d8b78 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode928.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f4ac1307aa8448e6a7e79676d6317e563b5b4c41e9b70a54a23a75eb4b5e6ea +size 39392 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode929.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode929.json new file mode 100644 index 0000000000000000000000000000000000000000..6b30595c3d06b1127fded9ca84da75028e101c90 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode929.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 929, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 129, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.15023332834243774, + "max_abs_articulated_22d": 0.15023332834243774, + "rms_24d": 0.023394756019115448, + "rms_articulated_22d": 0.024435026571154594 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode929.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode929.npy new file mode 100644 index 0000000000000000000000000000000000000000..d984d89d39575bb15e30e7ae922cffa8fc21b42e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode929.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d91faadf66aafa143ebf14e9c7c5ca97d769718478de1b5942c876d827b2c17 +size 12512 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode93.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode93.json new file mode 100644 index 0000000000000000000000000000000000000000..8cfd9a1a87177a1922684942c0ce26e750307625 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode93.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 93, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 111, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2702268958091736, + "max_abs_articulated_22d": 0.2702268958091736, + "rms_24d": 0.031148556619882584, + "rms_articulated_22d": 0.03253360465168953 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode93.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode93.npy new file mode 100644 index 0000000000000000000000000000000000000000..c0d8f551f2fd881be3e44c5f1c03e12572c21352 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode93.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:484b32575e317d35e99afdc800c8d0d368e20f4c999d6515c8c13a6598174c42 +size 10784 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode930.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode930.json new file mode 100644 index 0000000000000000000000000000000000000000..555fe058bd867e081a4259ddaa70b6440dfdc5f3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode930.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 930, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 178, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2588152289390564, + "max_abs_articulated_22d": 0.2588152289390564, + "rms_24d": 0.023306094110012054, + "rms_articulated_22d": 0.02434242144227028 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode930.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode930.npy new file mode 100644 index 0000000000000000000000000000000000000000..2813a409cc46c1be7f8e93a9786a9ddc65ba50bb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode930.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1816bc181af594ac0957e901f342769e64b89428253503ef4db8b62b092447e +size 17216 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode931.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode931.json new file mode 100644 index 0000000000000000000000000000000000000000..9f7eb604026058bb16aee4b2b94d8f79c3c13911 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode931.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 931, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 197, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.30854594707489014, + "max_abs_articulated_22d": 0.30854594707489014, + "rms_24d": 0.027903258800506592, + "rms_articulated_22d": 0.029144003987312317 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode931.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode931.npy new file mode 100644 index 0000000000000000000000000000000000000000..245ff50ca6be6f9253cb127cbfe0a940a82144e4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode931.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ecb5a5f514327fa1415ab45dcdf7c2ab05229f524af7d26b59db74fba889b66 +size 19040 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode932.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode932.json new file mode 100644 index 0000000000000000000000000000000000000000..794a8fd69dd341a6048aaf79e62ba01289b19cd9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode932.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 932, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 271, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.24939173460006714, + "max_abs_articulated_22d": 0.24939173460006714, + "rms_24d": 0.023952767252922058, + "rms_articulated_22d": 0.02501784823834896 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode932.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode932.npy new file mode 100644 index 0000000000000000000000000000000000000000..bb40eb263c842e8b6f122506eb789221fc809b08 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode932.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa8a2480f865f414d0ef2352d9f6ae6ad1c230e28b20d17c3a34d1b1f19b33ef +size 26144 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode933.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode933.json new file mode 100644 index 0000000000000000000000000000000000000000..699df75adde14c4cbe2e69adbd9abada33702138 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode933.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 933, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 233, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2920335531234741, + "max_abs_articulated_22d": 0.2920335531234741, + "rms_24d": 0.025380214676260948, + "rms_articulated_22d": 0.026508767157793045 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode933.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode933.npy new file mode 100644 index 0000000000000000000000000000000000000000..8d28df226d375c4c316737c6b72e22c7b57eddde --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode933.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f602b50afec1173011ca524443c14dc96c839a4e0b3203034ba85fb306662b0f +size 22496 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode934.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode934.json new file mode 100644 index 0000000000000000000000000000000000000000..10fb5d06b2fa9189b1edbf1174f364306ebfb848 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode934.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 934, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 213, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.29021507501602173, + "max_abs_articulated_22d": 0.29021507501602173, + "rms_24d": 0.024844178929924965, + "rms_articulated_22d": 0.025948897004127502 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode934.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode934.npy new file mode 100644 index 0000000000000000000000000000000000000000..af4af40d41982ca7d0e46dddb27bdd45190a6fb8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode934.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b232080ad007c9a660a1e05068a883d79075149f2b61c3235e916ee89d5d971 +size 20576 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode935.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode935.json new file mode 100644 index 0000000000000000000000000000000000000000..5b303ed08c1a2cbc6110e8532550cf3100f6ad78 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode935.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 935, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 202, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.9603557586669922, + "max_abs_articulated_22d": 0.9603557586669922, + "rms_24d": 0.08943043649196625, + "rms_articulated_22d": 0.093407042324543 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode935.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode935.npy new file mode 100644 index 0000000000000000000000000000000000000000..f62f05767b67cf238d668cfa3472908deca3d147 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode935.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:252936ca59864240f2face36fd369224cbdfd053ce9064042569121d6c018ac9 +size 19520 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode936.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode936.json new file mode 100644 index 0000000000000000000000000000000000000000..e7d1237c49e73b4e2bddb19149e2cdcd282b53b3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode936.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 936, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 246, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6779456734657288, + "max_abs_articulated_22d": 0.6779456734657288, + "rms_24d": 0.061756547540426254, + "rms_articulated_22d": 0.06450260430574417 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode936.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode936.npy new file mode 100644 index 0000000000000000000000000000000000000000..97718610ee01e026d4b29325377bf11e8069a123 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode936.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:283ca7c91c99875e832b73a3d48b6125c3a709d58622d5c6c13ca4468c6ee176 +size 23744 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode937.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode937.json new file mode 100644 index 0000000000000000000000000000000000000000..2621aa7aaa971883dc8fe364047554f32b6c3a9e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode937.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 937, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 117, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3028178811073303, + "max_abs_articulated_22d": 0.3028178811073303, + "rms_24d": 0.0438842810690403, + "rms_articulated_22d": 0.04583563655614853 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode937.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode937.npy new file mode 100644 index 0000000000000000000000000000000000000000..f8b7353eeb4723a99fd4d14676e3ebd3fa58d1e5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode937.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7b1f2d500ff1d266aaefe6a0c7bb3e51e9ace490d2e3376cc5ae0e4ae9c808a +size 11360 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode938.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode938.json new file mode 100644 index 0000000000000000000000000000000000000000..871dffc06a66bd00d79148fa3b50b9c240e2ade8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode938.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 938, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 107, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5872793197631836, + "max_abs_articulated_22d": 0.5872793197631836, + "rms_24d": 0.05891328677535057, + "rms_articulated_22d": 0.061532918363809586 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode938.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode938.npy new file mode 100644 index 0000000000000000000000000000000000000000..496f6241090ef0ac2179ae30dd52c78c1b771fc0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode938.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bcc209b988878a9b6138575e1c607ffb6b869b129f6bcc5bada770ce3845d23 +size 10400 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode939.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode939.json new file mode 100644 index 0000000000000000000000000000000000000000..f9e3c73f6a8d7cead19febf1a1f38f28262ae2fd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode939.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 939, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 123, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.308186411857605, + "max_abs_articulated_22d": 0.308186411857605, + "rms_24d": 0.046680934727191925, + "rms_articulated_22d": 0.04875664412975311 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode939.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode939.npy new file mode 100644 index 0000000000000000000000000000000000000000..4fe99e67703e130702acfba75959bfe933e6b209 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode939.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b97a48e452c833b4c90f670c4a16963e4d64aa1b5293e95b2eb42afb8848cc6a +size 11936 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode94.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode94.json new file mode 100644 index 0000000000000000000000000000000000000000..3401a9bcb3f239105944512778781a9bfdec773b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode94.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 94, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 120, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5254253149032593, + "max_abs_articulated_22d": 0.5254253149032593, + "rms_24d": 0.057739462703466415, + "rms_articulated_22d": 0.06030689924955368 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode94.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode94.npy new file mode 100644 index 0000000000000000000000000000000000000000..2a2238e9f400806f6962922dd5546b845ad70849 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode94.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e60430ef186dea1b07f09362f8beb07b71f8cbded12e0eaa18b017b469f2cfa +size 11648 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode940.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode940.json new file mode 100644 index 0000000000000000000000000000000000000000..eb41b2120724bbbe36a26dcf48c3058e83a928bb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode940.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 940, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 166, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4279325604438782, + "max_abs_articulated_22d": 0.4279325604438782, + "rms_24d": 0.041435323655605316, + "rms_articulated_22d": 0.04327778518199921 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode940.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode940.npy new file mode 100644 index 0000000000000000000000000000000000000000..0518fedf06c3980fd7164b10c89fa9b4a82582e0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode940.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:817fcbed913bc10356de83e79c04965936bdc5e50e71fdf09c54980ab0a312d4 +size 16064 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode941.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode941.json new file mode 100644 index 0000000000000000000000000000000000000000..d1c409ba213105046abf6f32c8a56733184c3558 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode941.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 941, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 2033, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.6036288142204285, + "max_abs_articulated_22d": 0.6036288142204285, + "rms_24d": 0.038111716508865356, + "rms_articulated_22d": 0.039806388318538666 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode941.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode941.npy new file mode 100644 index 0000000000000000000000000000000000000000..48e3ed9c7370a68a29e0ea82ec25a0646b733cf6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode941.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a37229f765fdaf39c24daad7b4e010228cd368983f32ae59a5f4c279f15ee5a9 +size 195296 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode942.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode942.json new file mode 100644 index 0000000000000000000000000000000000000000..adbd7386ae58afb06fb17b466ecf2289443a8be4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode942.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 942, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 204, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.48990800976753235, + "max_abs_articulated_22d": 0.48990800976753235, + "rms_24d": 0.03849390521645546, + "rms_articulated_22d": 0.04020557180047035 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode942.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode942.npy new file mode 100644 index 0000000000000000000000000000000000000000..fae44d9952b04fd29c7d4a21a43d1db363e7ecac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode942.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f1a5c62279700ec4aaa7986d1b3f1d9a0dc825cb8ed32ebeba4be8ff777e150 +size 19712 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode943.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode943.json new file mode 100644 index 0000000000000000000000000000000000000000..831f2c9ff3fb8e8881e9dfe320f12534db0461fc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode943.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 943, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 107, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3227056562900543, + "max_abs_articulated_22d": 0.3227056562900543, + "rms_24d": 0.05534392595291138, + "rms_articulated_22d": 0.05780484527349472 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode943.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode943.npy new file mode 100644 index 0000000000000000000000000000000000000000..672036166f80ed48c293f6c52016625c82427df3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode943.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d885929765f4ebd72c8fd55cba11d011ffff3267b5cd3749c4b492dce485358 +size 10400 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode944.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode944.json new file mode 100644 index 0000000000000000000000000000000000000000..ea8d42cb5a7816bb8a08770ddde7c357c6ef4a48 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode944.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 944, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 155, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2439417541027069, + "max_abs_articulated_22d": 0.2439417541027069, + "rms_24d": 0.04059343785047531, + "rms_articulated_22d": 0.04239846393465996 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode944.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode944.npy new file mode 100644 index 0000000000000000000000000000000000000000..4f1c5cbb41cdeedb1f28897ffd7fddb75bb3202d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode944.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a5af7586dc1c3b3f8eed2f08577bbce02233a9c5cd0e075b634473174f9eba8 +size 15008 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode945.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode945.json new file mode 100644 index 0000000000000000000000000000000000000000..c628bf2b3258dac42bd14e1f98280fc59ed9b18d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode945.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 945, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 875, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.29358577728271484, + "max_abs_articulated_22d": 0.29358577728271484, + "rms_24d": 0.02444685436785221, + "rms_articulated_22d": 0.025533907115459442 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode945.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode945.npy new file mode 100644 index 0000000000000000000000000000000000000000..a894f19b26b88e4016491353d81ed1fafcb10873 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode945.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9677ff693c0ee57190bc63b54f35cfb9754bb5f036021dadb4d5d9cdcfb9ff3 +size 84128 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode946.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode946.json new file mode 100644 index 0000000000000000000000000000000000000000..70b10560f84184455a6f17cf432a85d4c2377365 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode946.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 946, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 1092, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4466554522514343, + "max_abs_articulated_22d": 0.4466554522514343, + "rms_24d": 0.03299254551529884, + "rms_articulated_22d": 0.034459590911865234 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode946.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode946.npy new file mode 100644 index 0000000000000000000000000000000000000000..764108be2ec0683b20081dce7eaaa128a6f0e6b6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode946.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3d46c5695b77fb0d8b0d1d89cb93c473cf29db4032af5ac3ee6b5b72eeb49fb +size 104960 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode947.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode947.json new file mode 100644 index 0000000000000000000000000000000000000000..9df1aeb363b1ed8012e0a53edbec881fc7d87e68 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode947.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 947, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 201, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.13468599319458008, + "max_abs_articulated_22d": 0.13468599319458008, + "rms_24d": 0.02373848296701908, + "rms_articulated_22d": 0.024794036522507668 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode947.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode947.npy new file mode 100644 index 0000000000000000000000000000000000000000..4028a62ac8f630ea4f0b085dc4952f59e8a0a7fd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode947.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bb6ad1766ee501dbd88756f26bec0f3e9b23865e48d94cc4a8926be9e46da53 +size 19424 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode948.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode948.json new file mode 100644 index 0000000000000000000000000000000000000000..80f1519611f75516190d2fd4908c47699ae9c8dc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode948.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 948, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 266, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.360496461391449, + "max_abs_articulated_22d": 0.360496461391449, + "rms_24d": 0.03339092433452606, + "rms_articulated_22d": 0.03487567976117134 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode948.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode948.npy new file mode 100644 index 0000000000000000000000000000000000000000..7ee6148cca4dfad698c4a42a028cd4e5813d52fe --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode948.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8b25d2d573b455bdf89575d2f17d4bb5498636a8733cc9b6a058cce89bae017 +size 25664 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode949.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode949.json new file mode 100644 index 0000000000000000000000000000000000000000..d2da9c9507408515a413796f03c703326ae8993b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode949.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 949, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 150, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.13429760932922363, + "max_abs_articulated_22d": 0.13429760932922363, + "rms_24d": 0.022907612845301628, + "rms_articulated_22d": 0.02392622083425522 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode949.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode949.npy new file mode 100644 index 0000000000000000000000000000000000000000..55d818455bd62315fba2a8617e23e787236cc0bd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode949.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7656ee9455b29948eea25de9552f7a4ab77d9e9d07247e4f1e867ebc877124d4 +size 14528 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode95.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode95.json new file mode 100644 index 0000000000000000000000000000000000000000..4392ed3e2d6324a45c01645648dd47758b10b36e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode95.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 95, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 177, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5581827759742737, + "max_abs_articulated_22d": 0.5581827759742737, + "rms_24d": 0.0546443946659565, + "rms_articulated_22d": 0.057074207812547684 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode95.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode95.npy new file mode 100644 index 0000000000000000000000000000000000000000..55b6efaab65357d4a51d10096015015f4cc591f0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode95.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc18d4bd423000f3e4160897554d06c7b29cd25f3359805cd69c7164641385d1 +size 17120 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode950.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode950.json new file mode 100644 index 0000000000000000000000000000000000000000..b483a8bc04db254a4b9e822c5994e29fe4900687 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode950.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 950, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 125, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.45385318994522095, + "max_abs_articulated_22d": 0.45385318994522095, + "rms_24d": 0.04140292480587959, + "rms_articulated_22d": 0.04324394464492798 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode950.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode950.npy new file mode 100644 index 0000000000000000000000000000000000000000..5257d0815fe18de339ed8deb0808a2c32e975534 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode950.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcf4eced62ca241eae08dd2c3a85a2bb637df6712b2810a0b04687215f23979b +size 12128 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode951.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode951.json new file mode 100644 index 0000000000000000000000000000000000000000..4ef2624bc9920453814d2609e72d287bf2f84e5a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode951.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 951, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 108, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5817686915397644, + "max_abs_articulated_22d": 0.5817686915397644, + "rms_24d": 0.06057291477918625, + "rms_articulated_22d": 0.0632663443684578 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode951.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode951.npy new file mode 100644 index 0000000000000000000000000000000000000000..ba37469669103ef02e5f562cb293ed32f9287b86 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode951.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8c1f053873bd9fd0c0d472877a00b7ade82fb28639726c29dc3c585b4e07dfa +size 10496 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode952.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode952.json new file mode 100644 index 0000000000000000000000000000000000000000..71a0c7af318a56fce421ab67287e574eee991cfb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode952.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 952, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 199, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4620780646800995, + "max_abs_articulated_22d": 0.4620780646800995, + "rms_24d": 0.02826441265642643, + "rms_articulated_22d": 0.029521217569708824 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode952.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode952.npy new file mode 100644 index 0000000000000000000000000000000000000000..fb79f2428b8f01aea139ac1c84a9e17c18b5948b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode952.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2ba3a06086a1ee9bc2e19d4d17900e81e5532dc97bff7ab9e293c98445b18ac +size 19232 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode953.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode953.json new file mode 100644 index 0000000000000000000000000000000000000000..c3a7ccdf80f813c91ffa4ceb060eeb9562487568 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode953.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 953, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 119, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1540461778640747, + "max_abs_articulated_22d": 0.1540461778640747, + "rms_24d": 0.019733620807528496, + "rms_articulated_22d": 0.020611092448234558 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode953.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode953.npy new file mode 100644 index 0000000000000000000000000000000000000000..e8ce6932577ae748b3aac6b8407dee5f91fe2b7a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode953.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff5a530c21cc53270454c03e7e3fb00c5a028b6fba8960dcf07650a972ebd026 +size 11552 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode954.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode954.json new file mode 100644 index 0000000000000000000000000000000000000000..db2974456ca6b00e71956ab1a18f136a90106e10 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode954.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 954, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 182, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.43593156337738037, + "max_abs_articulated_22d": 0.43593156337738037, + "rms_24d": 0.040578607469797134, + "rms_articulated_22d": 0.04238297417759895 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode954.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode954.npy new file mode 100644 index 0000000000000000000000000000000000000000..e8a446d3f3a3d7fdda8f0f46933b8a7faa708015 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode954.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ceb0b13ff76a9f314c785b21553ba7d2620eae90deb0557547f89cc0191da8a7 +size 17600 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode955.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode955.json new file mode 100644 index 0000000000000000000000000000000000000000..c7f50ac57add5e3ab832ff65b6ac7c80329a7aed --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode955.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 955, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 103, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.06729006767272949, + "max_abs_articulated_22d": 0.06729006767272949, + "rms_24d": 0.012399224564433098, + "rms_articulated_22d": 0.012950567528605461 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode955.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode955.npy new file mode 100644 index 0000000000000000000000000000000000000000..08a52b5f1f8fda7c20e9b5e08818eb7b71e10f43 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode955.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7856b08003c56d6d08a20b0527b2b883416fe3d9a04731fb5d6e0ba1cc5d1e58 +size 10016 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode956.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode956.json new file mode 100644 index 0000000000000000000000000000000000000000..5c6adb14e94080905cb8b640117e9c9d842418c0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode956.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 956, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 206, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.11956894397735596, + "max_abs_articulated_22d": 0.11956894397735596, + "rms_24d": 0.017317716032266617, + "rms_articulated_22d": 0.01808776520192623 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode956.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode956.npy new file mode 100644 index 0000000000000000000000000000000000000000..af2cfb7628e8a4c54253b3ccaef3cdc2d19d6049 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode956.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b118d29d069cb135b3a64a683a30111e07b49263eefd76ba2038d9fff5172d7 +size 19904 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode957.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode957.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b198fadd7574731995894c6e0149c90f30d90f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode957.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 957, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 137, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.15145480632781982, + "max_abs_articulated_22d": 0.15145480632781982, + "rms_24d": 0.02622811123728752, + "rms_articulated_22d": 0.02739436738193035 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode957.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode957.npy new file mode 100644 index 0000000000000000000000000000000000000000..0f50ac7e7a83e1e42bdfdeda9bcde52fb3fed69a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode957.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c85470e253fc21092b91845f877cb9313fcab6806740cc509dd2cb86ce531eb +size 13280 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode958.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode958.json new file mode 100644 index 0000000000000000000000000000000000000000..00d922bdd7b7675fb37359abed11dc87370467b0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode958.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 958, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 663, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.29875990748405457, + "max_abs_articulated_22d": 0.29875990748405457, + "rms_24d": 0.025864388793706894, + "rms_articulated_22d": 0.02701447159051895 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode958.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode958.npy new file mode 100644 index 0000000000000000000000000000000000000000..02b361794dc30754f1b856c9b11042ad665415b2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode958.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:260581ac932b64281b8173c5551da138b527769f15fcfb353ac915702bb7ba9c +size 63776 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode959.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode959.json new file mode 100644 index 0000000000000000000000000000000000000000..9ec66aad1b2e85abf813ec5208dab1a3b93ea128 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode959.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 959, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 378, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.27585482597351074, + "max_abs_articulated_22d": 0.27585482597351074, + "rms_24d": 0.02338569425046444, + "rms_articulated_22d": 0.024425562471151352 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode959.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode959.npy new file mode 100644 index 0000000000000000000000000000000000000000..0d7c40e181fa5a2a4467b507345d4498fcae43ac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode959.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5e26c5beae0ad9439fa9f6a3162ed910fd5432b2cfff18e553c362b675a7d60 +size 36416 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode96.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode96.json new file mode 100644 index 0000000000000000000000000000000000000000..a099f14c53dbdd49ab982973aa40b1048164fe76 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode96.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 96, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 114, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19400453567504883, + "max_abs_articulated_22d": 0.19400453567504883, + "rms_24d": 0.020596345886588097, + "rms_articulated_22d": 0.02151218056678772 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode96.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode96.npy new file mode 100644 index 0000000000000000000000000000000000000000..9e81d5a4955d1345925a6bc69f7bf36cdbd88921 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode96.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ba4d5091cd94ab7adecb8f00372ed1e92961f837461ffec6b5e66a8eb20082e +size 11072 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode960.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode960.json new file mode 100644 index 0000000000000000000000000000000000000000..cfc14f113248eaf61d8da6c9d9b612c8805e3f9e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode960.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 960, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 373, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.5969659090042114, + "max_abs_articulated_22d": 0.5969659090042114, + "rms_24d": 0.03007202036678791, + "rms_articulated_22d": 0.03140920400619507 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode960.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode960.npy new file mode 100644 index 0000000000000000000000000000000000000000..693c8e9b4f7987d8dcb5ccdd07b5d7c6d94b05c7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode960.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaacf2f90d9edac6b8c549cbae745a37267f2c74cefc3f48efb41168cff812be +size 35936 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode961.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode961.json new file mode 100644 index 0000000000000000000000000000000000000000..64982fea46840f9449ac7c080926d6d72e206469 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode961.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 961, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 127, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2699226140975952, + "max_abs_articulated_22d": 0.2699226140975952, + "rms_24d": 0.03038284182548523, + "rms_articulated_22d": 0.03173384442925453 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode961.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode961.npy new file mode 100644 index 0000000000000000000000000000000000000000..a921e7cbd6f8488732f8ba16ba08fb41b63a1a11 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode961.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fe0ebd9ed700b8ebaf23c91306c9501606fd3dd449d30c941df9523b80e7d79 +size 12320 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode962.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode962.json new file mode 100644 index 0000000000000000000000000000000000000000..4b9544be6d96732059b7cf87bc7d2a53f57f9ba4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode962.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 962, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 107, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.34581875801086426, + "max_abs_articulated_22d": 0.34581875801086426, + "rms_24d": 0.040303848683834076, + "rms_articulated_22d": 0.04209599643945694 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode962.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode962.npy new file mode 100644 index 0000000000000000000000000000000000000000..c01ea1b08c931607ed68525746dca33f99775d57 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode962.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f174283493c2b4a57680da8119be65e1588c7d95d9366ec0b15ed1f72975e158 +size 10400 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode963.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode963.json new file mode 100644 index 0000000000000000000000000000000000000000..d015258668ffaab819809d8d55ec4a7e891c10ce --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode963.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 963, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 103, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.17705291509628296, + "max_abs_articulated_22d": 0.17705291509628296, + "rms_24d": 0.02467276155948639, + "rms_articulated_22d": 0.025769859552383423 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode963.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode963.npy new file mode 100644 index 0000000000000000000000000000000000000000..09f9bd526054445a5f2bef762f7605b71042b749 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode963.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8a3835ccdd7ae998b91b021888c67ab5278442f725477506ba9234cbce669bc +size 10016 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode964.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode964.json new file mode 100644 index 0000000000000000000000000000000000000000..6be55c19ed6b2c46b529eccd644512e45ba90c93 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode964.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 964, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 109, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.18112808465957642, + "max_abs_articulated_22d": 0.18112808465957642, + "rms_24d": 0.029169462621212006, + "rms_articulated_22d": 0.030466511845588684 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode964.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode964.npy new file mode 100644 index 0000000000000000000000000000000000000000..d0aa7fa649b6b167c9fcd3145e6d35f96930a72e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode964.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:847baa358768be5134b790bfc050178f9b61046b822afce4eac7fbcecb418074 +size 10592 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode965.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode965.json new file mode 100644 index 0000000000000000000000000000000000000000..63810c8422689e61eb106b2ee46b06a04e0a0457 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode965.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 965, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 170, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.4973617196083069, + "max_abs_articulated_22d": 0.4973617196083069, + "rms_24d": 0.03806821629405022, + "rms_articulated_22d": 0.039760950952768326 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode965.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode965.npy new file mode 100644 index 0000000000000000000000000000000000000000..948de744bc89abb2238833e48a93f15b6011f8ef --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode965.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:233b3607db80e1f14a8040e7ae41ff2e9ef06f8f91b6d6a0259f8bc958fd51f0 +size 16448 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode966.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode966.json new file mode 100644 index 0000000000000000000000000000000000000000..7789a94aeb41d5ed22e9bfef898013d25e1ef3d4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode966.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 966, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 160, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.20374292135238647, + "max_abs_articulated_22d": 0.20374292135238647, + "rms_24d": 0.030923383310437202, + "rms_articulated_22d": 0.03229842334985733 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode966.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode966.npy new file mode 100644 index 0000000000000000000000000000000000000000..7bf275e2c380b11311e2c1d5d8e6b22371dfd822 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode966.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:375a4c2b2f5ee5f094d71f3d6b36c2d35d5b9b7e1adbbe24a3f3fea2bc27cc95 +size 15488 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode967.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode967.json new file mode 100644 index 0000000000000000000000000000000000000000..7b39ba4d138865651db27194480a7968a6e66810 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode967.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 967, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 104, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2727000117301941, + "max_abs_articulated_22d": 0.2727000117301941, + "rms_24d": 0.04324893653392792, + "rms_articulated_22d": 0.04517204314470291 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode967.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode967.npy new file mode 100644 index 0000000000000000000000000000000000000000..a14bf8e7d86fbcfefd5cfe6f4a66cb82b556b7c8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode967.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7567315760702c5e5b4cfa6fcf571aa1e593fc61f2b0d9f1eb90c46a0b95d0e0 +size 10112 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode968.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode968.json new file mode 100644 index 0000000000000000000000000000000000000000..6d7ae297dfeb35f501e2659a74b02922229762b1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode968.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 968, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 127, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.24654394388198853, + "max_abs_articulated_22d": 0.24654394388198853, + "rms_24d": 0.03046521730720997, + "rms_articulated_22d": 0.03181988000869751 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode968.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode968.npy new file mode 100644 index 0000000000000000000000000000000000000000..b8e6c7f725b9937d15a9a469f6a92c098f798eda --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode968.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5642d1dd26f8add1e458639c8b34875b30021e25248a69724a98a3382be2de39 +size 12320 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode969.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode969.json new file mode 100644 index 0000000000000000000000000000000000000000..7f42dbe441d80db416ca76f58e765a45a9f90bdf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode969.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 969, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 665, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.35688331723213196, + "max_abs_articulated_22d": 0.35688331723213196, + "rms_24d": 0.028962047770619392, + "rms_articulated_22d": 0.03024987317621708 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode969.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode969.npy new file mode 100644 index 0000000000000000000000000000000000000000..0084d037bf151ab7d74f1195348f45e54e2a3200 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode969.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd2ab8b537d8a9333eebd2d2c49934d320f07bf41ee8343b66676310d9dea5a8 +size 63968 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode97.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode97.json new file mode 100644 index 0000000000000000000000000000000000000000..ec18a6c1cb44151de22a23f7a3e34c60b07b1d04 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode97.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 97, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 115, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2597639560699463, + "max_abs_articulated_22d": 0.2597639560699463, + "rms_24d": 0.03345216065645218, + "rms_articulated_22d": 0.03493964299559593 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode97.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode97.npy new file mode 100644 index 0000000000000000000000000000000000000000..c0e50aaea211d2b50bec2e7b493dcc45b5217dfb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode97.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cb2e8406dbff231a995a0d8c9d72816b82725bb0f452d0d58391f2165709b31 +size 11168 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode970.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode970.json new file mode 100644 index 0000000000000000000000000000000000000000..29dcb1735b03655282f71a1f587f9cb120e83b1f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode970.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 970, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 124, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3190035820007324, + "max_abs_articulated_22d": 0.3190035820007324, + "rms_24d": 0.03231622651219368, + "rms_articulated_22d": 0.033753201365470886 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode970.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode970.npy new file mode 100644 index 0000000000000000000000000000000000000000..242edc153841dae412d7700561949f6895a1cf92 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode970.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:754f47af91f4b8eee3e6dec0ec1827ea28035fa8e4ddcb0efa9d828cb6cc5546 +size 12032 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode971.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode971.json new file mode 100644 index 0000000000000000000000000000000000000000..fc6aa9f1eb5048a6b19355d5264c0a102fcc9746 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode971.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 971, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 108, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.10543978214263916, + "max_abs_articulated_22d": 0.10543978214263916, + "rms_24d": 0.013955391012132168, + "rms_articulated_22d": 0.014575930312275887 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode971.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode971.npy new file mode 100644 index 0000000000000000000000000000000000000000..5ea3d93ce9122f4fa6b0b6ce48b8f743c684ad37 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode971.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5f5620ae3adf3de77e5ae3a06628e3965866bad6a526187aeaf0736804ddc53 +size 10496 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode972.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode972.json new file mode 100644 index 0000000000000000000000000000000000000000..04f1d58e5e387e97ab858493e9a9526dff3e0b4d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode972.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 972, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 131, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2229093313217163, + "max_abs_articulated_22d": 0.2229093313217163, + "rms_24d": 0.030270926654338837, + "rms_articulated_22d": 0.031616952270269394 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode972.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode972.npy new file mode 100644 index 0000000000000000000000000000000000000000..903a12c3b06997e6ac61bf94b3637a5ef535cba9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode972.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ac5a43866542f1d5b4a803f80b4d3972ef2f351f35d41a10800285803bc3697 +size 12704 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode973.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode973.json new file mode 100644 index 0000000000000000000000000000000000000000..4aeb928e245a4ef1259aaea5977d8518d8cbd5a3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode973.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 973, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 180, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.16810083389282227, + "max_abs_articulated_22d": 0.16810083389282227, + "rms_24d": 0.022979967296123505, + "rms_articulated_22d": 0.024001792073249817 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode973.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode973.npy new file mode 100644 index 0000000000000000000000000000000000000000..70b44e1f24e1a6d40d151d5c2be72aad49cc8f7d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode973.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92f686d84e10eed026db1b87b3f43f83759a0f2b69d0a402df2c29f07d7ac8e7 +size 17408 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode974.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode974.json new file mode 100644 index 0000000000000000000000000000000000000000..bd55bfed16f7d16bc8e86ab95129c572c290667f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode974.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 974, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 226, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.22004413604736328, + "max_abs_articulated_22d": 0.22004413604736328, + "rms_24d": 0.031097091734409332, + "rms_articulated_22d": 0.03247985243797302 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode974.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode974.npy new file mode 100644 index 0000000000000000000000000000000000000000..e78fb9223136bced9d6db12ecf8ba7271575ff6e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode974.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:635e6be86842c95888bece3b53770197c7fb31193b7b7185d0fbaeba3da809f8 +size 21824 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode975.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode975.json new file mode 100644 index 0000000000000000000000000000000000000000..25d1e3e7658bf32b5b8e17e8b9dd3c7361951e77 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode975.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 975, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 243, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2779178023338318, + "max_abs_articulated_22d": 0.2779178023338318, + "rms_24d": 0.04098153114318848, + "rms_articulated_22d": 0.0428038090467453 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode975.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode975.npy new file mode 100644 index 0000000000000000000000000000000000000000..4f859ed1cead1bfc2573b27df5baaf7531439f75 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode975.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b0f5c89935e6c08f0d7dfb7c0df934393b118b57e026da1639864506e998b18 +size 23456 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode976.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode976.json new file mode 100644 index 0000000000000000000000000000000000000000..e9a13c9f983a61cbf9a84393b6ea1bbbdf5c330d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode976.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 976, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 147, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1971437931060791, + "max_abs_articulated_22d": 0.1971437931060791, + "rms_24d": 0.02431526407599449, + "rms_articulated_22d": 0.02539646439254284 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode976.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode976.npy new file mode 100644 index 0000000000000000000000000000000000000000..96909e763cb37669c2cf5f04669b15a1fa7ab916 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode976.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da05594f09914b8662895e99fb616e0da977d83211884df008f25bbc282c5188 +size 14240 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode977.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode977.json new file mode 100644 index 0000000000000000000000000000000000000000..356fce217864df35983b48c3a71fc53e9ed3d7bc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode977.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 977, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 158, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.11168491840362549, + "max_abs_articulated_22d": 0.11168491840362549, + "rms_24d": 0.01725093647837639, + "rms_articulated_22d": 0.01801801472902298 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode977.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode977.npy new file mode 100644 index 0000000000000000000000000000000000000000..de4f4fe1b909ab3b515cf4d296b42d1ccd36719f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode977.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8efdb9999861797a5fe7c59be58a5457b15ff7b233f70961f6b79edb8b0bf677 +size 15296 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode978.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode978.json new file mode 100644 index 0000000000000000000000000000000000000000..ae5f96b5571f63400ca550f0d8028c3702ac75fc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode978.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 978, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 216, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.15372231602668762, + "max_abs_articulated_22d": 0.15372231602668762, + "rms_24d": 0.020231446251273155, + "rms_articulated_22d": 0.021131057292222977 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode978.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode978.npy new file mode 100644 index 0000000000000000000000000000000000000000..f5172b72f164f95b4f61f4e2a7c7fec4ce3b02bb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode978.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31eec024b15897837cdf9a8042ae93a057ae75a949204120939d437d6bd17743 +size 20864 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode979.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode979.json new file mode 100644 index 0000000000000000000000000000000000000000..f6258f3093f60cc9bf03745df43197a056751730 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode979.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 979, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 119, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1162799596786499, + "max_abs_articulated_22d": 0.1162799596786499, + "rms_24d": 0.019079865887761116, + "rms_articulated_22d": 0.01992826908826828 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode979.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode979.npy new file mode 100644 index 0000000000000000000000000000000000000000..974bca97313761c77c3eab85e07422757bc00389 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode979.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be8fd2e314f41b4cd2ac418f767782e5e9095ac6111cdf9ee95d9b9da3fb01a6 +size 11552 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode98.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode98.json new file mode 100644 index 0000000000000000000000000000000000000000..dd737df8f702567520b124982cffa0b5a2282d43 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode98.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 98, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 115, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.27017611265182495, + "max_abs_articulated_22d": 0.27017611265182495, + "rms_24d": 0.03831171989440918, + "rms_articulated_22d": 0.040015291422605515 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode98.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode98.npy new file mode 100644 index 0000000000000000000000000000000000000000..b466a3c7eedf9ebc4bcea5f67202d52718ec2904 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode98.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:459b0183ee17c526a7371a3712eab1a16f37e04bf65ae256c8c9413a4c55b5c5 +size 11168 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode980.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode980.json new file mode 100644 index 0000000000000000000000000000000000000000..681550361dd17e260d012bdddc9368ef8e69de45 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode980.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 980, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 373, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.15544486045837402, + "max_abs_articulated_22d": 0.15544486045837402, + "rms_24d": 0.019194921478629112, + "rms_articulated_22d": 0.020048441365361214 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode980.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode980.npy new file mode 100644 index 0000000000000000000000000000000000000000..62ca892b92785978fc625d8592ff5b10871c212f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode980.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c6a4340aefec04440d7fde607ccca7d856c8e74fb9047609aa40050f9870daf +size 35936 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode981.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode981.json new file mode 100644 index 0000000000000000000000000000000000000000..9ec1001e2efb94ce645af7dac2ce727a1848deaa --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode981.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 981, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 333, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.20001184940338135, + "max_abs_articulated_22d": 0.20001184940338135, + "rms_24d": 0.021856872364878654, + "rms_articulated_22d": 0.022828757762908936 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode981.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode981.npy new file mode 100644 index 0000000000000000000000000000000000000000..f30dc24b7deb449088d9e9e5eb8ef938f501fc10 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode981.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42e11f844fcf8e4b83dcc281644453d86d57535b60a192d7d96740d49532a374 +size 32096 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode982.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode982.json new file mode 100644 index 0000000000000000000000000000000000000000..363b753a8f69bb3ad519207c8c10e0488103e977 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode982.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 982, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 422, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.1486983299255371, + "max_abs_articulated_22d": 0.1486983299255371, + "rms_24d": 0.015332065522670746, + "rms_articulated_22d": 0.016013819724321365 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode982.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode982.npy new file mode 100644 index 0000000000000000000000000000000000000000..e58b17e9fe2f7d00466ff97f0b96178b30907d17 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode982.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0649e8ce82e4a519efd396ce07d1a23867e95226cad141bf9728a5f8acb83f2f +size 40640 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode983.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode983.json new file mode 100644 index 0000000000000000000000000000000000000000..4d4065c8709710c6440190ce1d5a9ad584d73350 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode983.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 983, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 209, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.13804203271865845, + "max_abs_articulated_22d": 0.13804203271865845, + "rms_24d": 0.017356837168335915, + "rms_articulated_22d": 0.01812862418591976 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode983.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode983.npy new file mode 100644 index 0000000000000000000000000000000000000000..d2979ed6c1478e61303cc5e03ddd46db8c2aac2a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode983.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:614149ab0c1d1357b4c7c35f4374e052090f13d612a974ca6d112b44d566d938 +size 20192 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode984.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode984.json new file mode 100644 index 0000000000000000000000000000000000000000..6a6c908a82a65f7dbe2ac1c493b9a984255c8ffa --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode984.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 984, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 516, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.23318719863891602, + "max_abs_articulated_22d": 0.23318719863891602, + "rms_24d": 0.025033175945281982, + "rms_articulated_22d": 0.026146300137043 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode984.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode984.npy new file mode 100644 index 0000000000000000000000000000000000000000..cbaa4b37d266c259a8a4c002fe9a93312f46be43 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode984.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6c8646acc65745c0e38d5014bb99f316cc40881d020089505be4e3f2effe13b +size 49664 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode985.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode985.json new file mode 100644 index 0000000000000000000000000000000000000000..182205a85e1f0d8ac55b1d75e9b20e72c4ff92c5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode985.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 985, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 186, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2359945923089981, + "max_abs_articulated_22d": 0.2359945923089981, + "rms_24d": 0.023382967337965965, + "rms_articulated_22d": 0.02442271262407303 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode985.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode985.npy new file mode 100644 index 0000000000000000000000000000000000000000..42c168a65c30513bb42a0a734fa61d105604281e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode985.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1620b2929627a2915b6b54b99d4b0e9db42af49df5a0c1498d291ab086a486c +size 17984 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode986.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode986.json new file mode 100644 index 0000000000000000000000000000000000000000..2ff2b5878174cff4fbffeeb0c713487976b68f04 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode986.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 986, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 115, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19295617938041687, + "max_abs_articulated_22d": 0.19295617938041687, + "rms_24d": 0.02065732516348362, + "rms_articulated_22d": 0.021575873717665672 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode986.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode986.npy new file mode 100644 index 0000000000000000000000000000000000000000..37c2adb52bbc81afc478c6ec347ec4e4875a6f0b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode986.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8958429f745d10c5f8e772a63f6dfb5bd8892e6597b7fe9bf751fe4ef47dc11 +size 11168 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode987.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode987.json new file mode 100644 index 0000000000000000000000000000000000000000..85e3fe4c5151cd317fdd525a3b9a07ce0a60fd8e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode987.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 987, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 130, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.2422383725643158, + "max_abs_articulated_22d": 0.2422383725643158, + "rms_24d": 0.027178404852747917, + "rms_articulated_22d": 0.02838691882789135 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode987.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode987.npy new file mode 100644 index 0000000000000000000000000000000000000000..2fa35a0a35f16175fce744972e9a3494aa481bab --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode987.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82f445cb7e286d46568f7e084a5283b57c98d0a6cb0593e1b34a9fe8671b1355 +size 12608 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode988.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode988.json new file mode 100644 index 0000000000000000000000000000000000000000..44db6b51096022244c9b5149b35433e633486c3c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode988.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 988, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 103, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.09131443500518799, + "max_abs_articulated_22d": 0.09131443500518799, + "rms_24d": 0.01626979373395443, + "rms_articulated_22d": 0.016993246972560883 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode988.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode988.npy new file mode 100644 index 0000000000000000000000000000000000000000..a93bc9c65c48e012fcb21cf3ba16c1c79ecf300b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode988.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15bf72273542ee6a86ccc803460c55d953f32e18b21f11f2d9ef6a2cd5fbacd6 +size 10016 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode989.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode989.json new file mode 100644 index 0000000000000000000000000000000000000000..4c0e0e00b2bab34a78b38dbdfb42bd777ee947ff --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode989.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 989, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 228, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.13842880725860596, + "max_abs_articulated_22d": 0.13842880725860596, + "rms_24d": 0.020576296374201775, + "rms_articulated_22d": 0.021491240710020065 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode989.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode989.npy new file mode 100644 index 0000000000000000000000000000000000000000..0eda0677baa1b1be7913d0785e9fc14ecd87a56d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode989.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ec022846967642ebdc690c3f493a4ce6a0fabe4583bef99fd541b8802fa4efe +size 22016 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode99.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode99.json new file mode 100644 index 0000000000000000000000000000000000000000..855dd2b95c2391f70ad73d7754c014c89a6b6601 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode99.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 99, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 285, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.27380049228668213, + "max_abs_articulated_22d": 0.27380049228668213, + "rms_24d": 0.030789049342274666, + "rms_articulated_22d": 0.03215811401605606 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode99.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode99.npy new file mode 100644 index 0000000000000000000000000000000000000000..9b1886cf6dad6c75c4c55b0742d71767155b9b00 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode99.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8745f0620d375ac6f70008b75114d74aad3957c15dc0796166bd7a83f4397414 +size 27488 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode990.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode990.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ce38112859909b2045d19c5d4c651b0695899d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode990.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 990, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 112, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.25525885820388794, + "max_abs_articulated_22d": 0.25525885820388794, + "rms_24d": 0.02425936982035637, + "rms_articulated_22d": 0.025338083505630493 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode990.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode990.npy new file mode 100644 index 0000000000000000000000000000000000000000..1d6cbcd44777990aee12614218e320359105d2dc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode990.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7415eb3d22ec4e8e43cc3659417a2497f05eaa5506552dc101203544b7d1db96 +size 10880 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode991.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode991.json new file mode 100644 index 0000000000000000000000000000000000000000..c2440ca143b08682e782c19dd28485f8a63e1606 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode991.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 991, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 142, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19707250595092773, + "max_abs_articulated_22d": 0.19707250595092773, + "rms_24d": 0.028128184378147125, + "rms_articulated_22d": 0.02937893010675907 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode991.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode991.npy new file mode 100644 index 0000000000000000000000000000000000000000..12b7e8d85a570607fbb6e38ddc383b98f53d3fec --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode991.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1ee223dbf655d29caac7db4950badba8d956493d96079b40e49f9765e382ea1 +size 13760 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode992.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode992.json new file mode 100644 index 0000000000000000000000000000000000000000..15d7987f21905ae3912012e3b4ca87a291102870 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode992.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 992, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 219, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.16089218854904175, + "max_abs_articulated_22d": 0.16089218854904175, + "rms_24d": 0.019465453922748566, + "rms_articulated_22d": 0.0203310027718544 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode992.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode992.npy new file mode 100644 index 0000000000000000000000000000000000000000..d05d6f509589fc95ee9ddb5c9263f04faf0541d7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode992.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5406ffcae8312afb24888c5d9d70d92efc42f0ba3ee8a401237041f805248913 +size 21152 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode993.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode993.json new file mode 100644 index 0000000000000000000000000000000000000000..5785c2b0c45c283f69becaeab1b66e093b73a37c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode993.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 993, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 104, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.8742280006408691, + "max_abs_articulated_22d": 0.8742280006408691, + "rms_24d": 0.08464392274618149, + "rms_articulated_22d": 0.08840770274400711 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode993.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode993.npy new file mode 100644 index 0000000000000000000000000000000000000000..4c7111ecf65e54377dc2a1ea7dcd9b14877114bd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode993.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db3f7b86dedfc17eac9e315545e0f927f94c5b8d1d7b8af42cca8cb591ce5c83 +size 10112 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode994.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode994.json new file mode 100644 index 0000000000000000000000000000000000000000..53d344c59219b45be6d67988430739333721d5f0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode994.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 994, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 104, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.741158127784729, + "max_abs_articulated_22d": 0.741158127784729, + "rms_24d": 0.0839105024933815, + "rms_articulated_22d": 0.08764166384935379 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode994.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode994.npy new file mode 100644 index 0000000000000000000000000000000000000000..fa6be120e11f4191da98dbf99fcb51d7bceb0485 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode994.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:314fee4cda3b5dc3dbb55396863bc8b490693b36c006b662a2ba530dab74d5c0 +size 10112 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode995.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode995.json new file mode 100644 index 0000000000000000000000000000000000000000..0ba3beefb9077e5110a8a2a33257849d02e1213d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode995.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 995, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 110, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3602569103240967, + "max_abs_articulated_22d": 0.3602569103240967, + "rms_24d": 0.05816973000764847, + "rms_articulated_22d": 0.06075629964470863 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode995.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode995.npy new file mode 100644 index 0000000000000000000000000000000000000000..062e78dcdc67ff3d4754825d6881ff3625b52302 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode995.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed254064c4e70388ff94f0ee4c86221edcba028f3933044968f4bd622c85ce6b +size 10688 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode996.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode996.json new file mode 100644 index 0000000000000000000000000000000000000000..b50b273c42b70a7185038e49553e5e5688322051 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode996.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 996, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 130, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.19527515769004822, + "max_abs_articulated_22d": 0.19527515769004822, + "rms_24d": 0.028338037431240082, + "rms_articulated_22d": 0.029598118737339973 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode996.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode996.npy new file mode 100644 index 0000000000000000000000000000000000000000..efafd35ea0ac89e488efeda10bc38ac330d0011c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode996.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d85d88ce2329f164226d1a5392074acea0fd653dba5eb965ac6e6f025e136bf +size 12608 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode997.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode997.json new file mode 100644 index 0000000000000000000000000000000000000000..abcf01ec0cfd9363aebf6ebab6bc49893dc64e91 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode997.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 997, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 106, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.07314848899841309, + "max_abs_articulated_22d": 0.07314848899841309, + "rms_24d": 0.01455218531191349, + "rms_articulated_22d": 0.015199261717498302 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode997.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode997.npy new file mode 100644 index 0000000000000000000000000000000000000000..cfb98da69ec9f0c561d13a36488184811376beb3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode997.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f07d7fc37a74aee216471319a2a23e7f5e4658e72091912d884a3d81cad7014 +size 10304 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode998.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode998.json new file mode 100644 index 0000000000000000000000000000000000000000..35a6c77791db900934f1a10b374dcac36b5b8a8f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode998.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 998, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 158, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.24205780029296875, + "max_abs_articulated_22d": 0.24205780029296875, + "rms_24d": 0.029875146225094795, + "rms_articulated_22d": 0.03120356984436512 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode998.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode998.npy new file mode 100644 index 0000000000000000000000000000000000000000..0fa988ead43f6db036d1d66d55859ed8e9ef936c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode998.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b900e502a23a856e6bcd606338c767e5ac42f3ee678a6c39589467eea090f40a +size 15296 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode999.json b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode999.json new file mode 100644 index 0000000000000000000000000000000000000000..56d21e60307f7d93a6678e1db2b9848318b12821 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode999.json @@ -0,0 +1,88 @@ +{ + "articulated_dimensions": { + "indices": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ], + "source": "isaac_articulation_get_joint_positions" + }, + "dtype": "float32", + "episode": 999, + "fields": { + "head/position": [ + 16, + 17, + 18 + ], + "joint/position": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "left_effector/position": [ + 0 + ], + "right_effector/position": [ + 1 + ], + "waist/position": [ + 19, + 20, + 21, + 22, + 23 + ] + }, + "fps": 30, + "gripper_dimensions": { + "indices": [ + 0, + 1 + ], + "note": "crt_120s fingers are kinematic and have no articulation DOF", + "source": "realized_kinematic_open_fraction" + }, + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 138, + 24 + ], + "tracking_error_vs_target": { + "max_abs_24d": 0.3698890805244446, + "max_abs_articulated_22d": 0.3698890805244446, + "rms_24d": 0.03534340858459473, + "rms_articulated_22d": 0.03691498935222626 + } +} diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode999.npy b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode999.npy new file mode 100644 index 0000000000000000000000000000000000000000..a1a2a76245a16220326eeb35e45e07c248253501 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/state/episode999.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b391dbb5d152ee5b1ade24e2b8b8c026c201859b412dd5cc99ae3bac6864fa44 +size 13376 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode0.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..51766572167844328a58be5f0393d8878d9111ae --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode0.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebeeff3b3d8b1f30da595978e12d5fd1dc86e56b96a4f1c754ea064147c078f0 +size 280040 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cb74612ccea1e43f3252452039c895aed01c2f83 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0d134f665a8726686b02fd6d8058deb2bd3f6f71d8750e912a48a58e2801289 +size 66481 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode10.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode10.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..484b871501f4ea2976277b942570c6af5e1df161 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode10.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15ebacd2c95799b422c638fd336b5e815220df442438e8596c91e09325b08e5b +size 109169 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode100.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode100.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..464e5f7673b8be9d5df443fbd5f4d7f43e834767 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode100.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cef076436453e7f265760e73a2b6ec333ffcad560ea96679ca28f9d65f47d8bf +size 166633 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1000.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ad5032ae96d6223fc4fceafc679966aad6b0a937 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f25b6074f0830ae96a1c632004237597e23cbc3a29491ecac7ac9d67cfee555 +size 141967 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1001.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..417bc1baf1ab68b2823f369bcdc03444c0d5913d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e2bb15a8f9e53faf167d052dbca4331151f3f980f725a5f15e97bebfe7b6271 +size 87162 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1002.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5442a47500892a969f816692bdc3f28b86f666bf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d94fc267ed22309931f60d7d231e215232087b2eaeea3817cb4005e5dd16d4fd +size 116104 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1003.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1003.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..34e0779c617d97d6e8dd6b03406add74ecb30563 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1003.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3ceb1c4f08987fb8d57d9136dd0755be8d136605dcea7be3707bfab42a621d4 +size 158773 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1004.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1004.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0fed44f8e291a340e42d346361b8431f3a80e225 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1004.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6d8c29b26c983afc1ecddd3c92e8954f4d57385866945bd3530f9c45626876b +size 196442 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1005.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1005.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f4f3476558cdd07f0eb2c7d3a7b142ccde739c1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1005.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbd846e83e0d6596739c28986c1fd8322fa6cf55c644e76098f8812358946a20 +size 68534 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1006.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1006.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc46013ad4efdf3f6a23b3d1f6ecabb6ad502e2f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1006.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8253c46207fac3f5ef66f88e443cbbf68335fb3e4804df538bde269a9024f1c2 +size 105100 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1007.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1007.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4d1534a624ab7a69a8b2048144f1858edfb5e739 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1007.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:921f28bce00dc143fa2dfa15f9afdcf9f0baa3241e887b863b07c1c18cbbcd87 +size 73352 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1008.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1008.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..23c8b319bbe0ba8390c4e2c83f93dc77022eec9f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1008.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00e874d27ba0b4d6fd8c251ab0a374ede7fd4c7be12f6c1b9bd2725174dde2d2 +size 138923 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1009.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1009.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1941c1c9437624ad2ef71085b066563f51389c3e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1009.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a318db32dea343313e8120485f03ff3d7554e2ee985b8e64a1cbaec0a12833b4 +size 134037 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode101.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode101.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..77d516c953d6af8520620f6e8ff679fc88d1fe48 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode101.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:390ea31b221600f95f0b5ecf70634b7bac9947a57b582b1bfe9562ca50b34ab5 +size 189929 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1010.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1010.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b6adf5565c0432355620d89ffb6e3f63a32360e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1010.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b122c9a08136b5d1f93206314137e2ab6dc93d40341b69f4d24d7bae9f82a0b +size 105590 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1011.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1011.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..53b3ee4fb40da92d688843084abf1c8dbcaa611a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1011.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e3d93a47bf34bd180e7c94ed299e7b9a4137ac3139cdd176afa038b8c91028e +size 98651 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1012.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1012.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cc41fd9149a542e09f4e344d466bcc17b6316a99 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1012.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fd09dd597963bdefd1ba2d88dcbe1359c85be14e4ffc51021d543f293aaa008 +size 81145 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1013.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1013.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1310ad97e80f145095cdef73f676d6790088df29 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1013.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c3ace20dc7e91cc285c57574d017994ee5b791aaeb2ae6e0e676176ec0b535c +size 126581 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1014.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1014.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a05a8510d87907d82f40ba90a2cbd1e4d9ad0c45 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1014.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8f48ae6d7d0b2b2550611184a1a14339966512fdbbec986fcc8ff9707376786 +size 166934 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1015.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1015.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fd619a6188ae861f05f940b82db5572aff6b7810 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1015.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89d42fa98e20e75e7ec0da35ca0ab3526e77fabcc591bce6298be6cbb9fc6972 +size 72293 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1016.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1016.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e69411003661cbbd54c849c13ef4dc7921853186 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1016.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3985dae182af7fefa55ab1758fd7b496e7548d8ea0d72ec666d645b843da5a57 +size 177126 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1017.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1017.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c71f48d6e0ea99f336bb29e63d23679eb6df48bc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1017.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84d7bd492e69e408ba45a42da95e020bd4722cd8b7bf6927439b2bab3e66c561 +size 160933 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1018.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1018.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c641752dc3132f71592e4e20ef07cade7bd7b2d8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1018.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0702301c4b406a946622ab9b5e02b2f8a347b0e2cbb7e7946d7d1ab4984cfd2f +size 105921 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1019.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1019.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..86d8612f765de690935ae509922d4337a99d2572 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1019.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e19d872aa5477e8c701de5e9b21b7c75b359eeff2acaca420e3a499a1f57446a +size 183656 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode102.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode102.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0662240ad5160f333b14f0c8890745256ee335da --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode102.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6f9810106e002a1699702daba92de977adb45b3fd99174a738f4ce1eab7f86b +size 126627 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1020.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1020.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2a23e6b39a9f24eb9088e880e0f0526686159484 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1020.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17482431a90792b03f946ecd88d7ff5380a2223e7a52b13a76d98c0d5310baf4 +size 509916 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1021.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1021.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d40e330a950172abf08dcb1b9f1d9eaa495060cc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1021.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3f14da44f2d91e59c150f9e464fdf1ccdf00a64c991ebb1e6734dc55d542d17 +size 152203 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1022.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1022.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..504a1ef6709358eaed6a437ccf0c97c5b385076b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1022.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f91e9760b9a66b2126b77d38d6285301dfe865a0f04fbdca681ca0790b0b272 +size 79950 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1023.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1023.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a4f0542966df536da3f1b5fe4026d681edd45ca --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1023.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fa9a199a5a73825538ebb5c84e5c047ba3ac99d386275cf9f59be33a413bfa0 +size 106317 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1024.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1024.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a30c0ddb7a1dc79a11fea846aa2c1e2cf965ff88 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1024.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a7d1f1bf256afd1bb132e21215b324deb5039a761b3af1c487f4f0dd6e18f94 +size 186646 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1025.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1025.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..28e3ffcffbfacc263fadc1d8f9cd90a0edff084c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1025.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdcf3483fbdda08972a26d958d2483ea20aa53a16713a674551e742f034df3a8 +size 140830 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1026.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1026.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a5a0c691eda67010aaa4544329af7d762905a30f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1026.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe296919aa50ddf329c24984dd8a80742901ac5a9a4eb578b2229d1d63e556ee +size 111122 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1027.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1027.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..85762f63cdf4a154feeb30ec163a2a4faa9ab2e7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1027.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa97ce8ee4a4dcf144f192cda0b17177a189314ed7358793b8b97011eacbc04f +size 134014 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1028.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1028.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9d1392c2b10dba232cff207d7bf5796f7cb1c578 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1028.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54b7e90096260b5e8ad2cb73ce61cad1177bd8a615f6f2cb55291286f91c6cb3 +size 367965 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1029.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1029.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0b9aeb4c03588288cbb6ff106e817d10e9323006 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1029.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e6eec2f2794639c19a1e11706a17fe7c27abdb4f8c08e46a8bd0c9e72ec0419 +size 113664 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode103.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode103.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..63dc1428186480b754d5c17d9d6960a7500a87e5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode103.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8814649de728f86540a828bacf0034d3ab7bfbeb4f0c20facbafc858fd2b1a6 +size 662490 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1030.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1030.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b6391357431563baba7c82987c96d7af2e734dce --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1030.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb038f29f548e68607829d2edc55d412b07c2737549e037ad2a273d50c1cc3ca +size 103804 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1031.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1031.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..63b644a0b167d63e387ea600a29a5ee12b25f2b3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1031.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33aa2cf3ad7b6597995a83d39968648f3bcc1c4b50670b0d581b2d0489f5b9c8 +size 245345 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1032.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1032.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..43362e3807efe78e29d7cd8201f20a14acb04f83 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1032.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5975411c2343631906320f2ef007f7577c45f8e078f90c66ab7b86460b0c7add +size 102760 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1033.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1033.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..05b148350bf4744755ca47c4bb3d39b744702810 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1033.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:947539ea589ede550b8f08ccd60b729fd14407875873a9397957b042660ca964 +size 61997 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1034.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1034.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7a92bd2eedaaf1c1fe26f707e86ac3f05188e492 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1034.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54fd4aa0f0b475a393c9fef8cd507385672ea83f1f4d3471231f5c5fb71c7b8e +size 111676 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1035.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1035.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a9fe1268f33fda7edd296745a594a898517125f5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1035.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d64eb08a9407f60cc030090c3d485fa6a2ed0e3c1356ed54f08f0f831808a68a +size 91537 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1036.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1036.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ba5af15e4076b197b8769ba30c16518a1e3bbac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1036.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2fe9d9a1c74a3e35ca66e519a3f618fb9f67444bdce4ce06bac14bc3fe6b976 +size 103467 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1037.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1037.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5f4ad28e61149cad96c3431531a097086e041137 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode1037.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:512030af34ba4220415be030226506b3173f34a559f811112349ac4a1222c02c +size 108482 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode104.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode104.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f2d17c3f38e853841fe07710b66153592f8dd511 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode104.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d72af6d7ed31f921527e8584b9436a8b6235f5ebd71d89bccdb26f10562e8d9 +size 132035 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode105.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode105.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f9dbe0c029eac994d5202baca33c0e2e36655a0a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode105.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:902d2358719176be6b7742adfd75bfc574b0667b7b764f440aa3ed5ad3e67781 +size 104834 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode106.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode106.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8a28ee332362ca46b8d9595a74de3db67f158e33 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode106.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fa3d91de656aaa62743a87c0175dc8ea0b4dab71e9ec82fbea84639fd4d31f0 +size 111925 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode107.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode107.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..162284fa756dcb2523051383aad58e0081d899f3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode107.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba3fd93fa52bb08c32bb51f8a9bb391faabad2022673d7e15ae1921aca0aaa3c +size 113711 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode108.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode108.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..299648d348ab75e63ff6825008c92d80ff0465ab --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode108.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67063f22d2fce7e5c027f4b2fe07f3f1c66f0290718752edcbca7321ffdda26a +size 152698 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode109.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode109.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bd9000ddb30caa1bb4a639414472000961561453 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode109.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2993e305cd15cc968728b66c8991f461d624fd2828042dd710d068927f4c0e32 +size 144696 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode11.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode11.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f2ff5b407da6e1df719519aa3670c91e14408efe --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode11.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bfec950e53fa479d701293dcb887b67651622a581776cdfe76a77182f0f83f1 +size 72667 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode110.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode110.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b1cd72deaba51ba0429e1891cac4c01dbc3c53fc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode110.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b5c6d03f725c52112ad18fb5ade1270f19e12e16337d25594497989dc43b2c5 +size 143566 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode111.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode111.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1526902d2157048060504b296380f84d71b28aac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode111.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c585904b5542b3af6f83b0479f72d5e4b9776a935003fe060431d1e5c36e5acd +size 108090 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode112.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode112.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..be62e960f82ebbece97cef860451a9317cf8a887 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode112.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f969151d1df04629aba98da3424ae3239b5d2055887471670a363c858e006471 +size 149203 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode113.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode113.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..13fb7ddcd172c5ba562f90eaf9b06a09c2be56a0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode113.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c791a60ea0829c348dbe3334f29ade71b5e2ff77142227e1d10407015d220b54 +size 292272 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode114.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode114.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..43e8a0f91cf5482bf8128d1eebf8e6ddc19410d2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode114.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b32c78998df14db35902934880e30fa732692395bfdb8a97aa53d7d282f3fde +size 570339 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode115.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode115.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..385adb588dffd0c115bee49b8595381207fff982 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode115.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38dacced3165da7e2c51945e1dae28902695ce129749ddcdac90cbd70958d9f5 +size 64798 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode116.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode116.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9f622c342e5f83f8ed7bbfd9c4faa955113545a0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode116.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bfc6725e1b72f4171b8f4088e254b2a15c6e58fc2d98f27e5d41f76dbf0e155 +size 109696 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode117.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode117.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..117408727ec9357249ec5f7a03c00987c1f055be --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode117.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b469ce546ad7d14cd8b6b3423d409f6b3f39c75707ecfde295c62764d4cc85a +size 93109 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode118.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode118.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..91ce562b1ded3f5ff8b2995355945d057088f644 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode118.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:398ccca7c6729edc4c48255a4ee1a3bbc68b47d649ee197beee5a045c50a5b69 +size 124805 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode119.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode119.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a2919195746a4aa11ef7df7ab896a5154d2187b8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode119.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28376f6937976ed45d053b0f82651398f97899b1bd01e976594e93a69235d67f +size 121312 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode12.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode12.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bff61e009725f83b1ae3f2ccd1add609897b0a50 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode12.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:378e9738e1dfd2a937d8efe0bb641534c27d0a1e9fe45f1643db902e835e7cfc +size 60883 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode120.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode120.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b856e792c4a318c0114ab408a275db0d2c0f2024 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode120.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30b12e82d2d267645540974f2a038c7a9893de115c017383b81e4121dc65ccb9 +size 113840 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode121.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode121.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..13e865043bbac45fdafe7577f8a4dc408b230363 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode121.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:537c4d0626a6ed8f13e024d68498e8a9d063a4cc336fe8da3523676f90ff9130 +size 87445 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode122.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode122.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c50eba7b9c5050bc83add5f77da6eaaae0d6d18 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode122.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19bbd1c60889dd1eac0f27937d9a02dfc8e6e231921d4887a92a012617a53916 +size 125209 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode123.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode123.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c108cba7e268fecf183b1c3fc73371906a03021c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode123.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b8166a1372fce6e7fe8dd95dccc530e2b72376ddd7755f6bf045f6dc9187c49 +size 125304 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode124.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode124.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..71d61021c7f94dd0a0ba79f66774a2b21f03825e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode124.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d76ada3df311d1fdbd2f8bd94e9247d4fdd4bce209a1b67010b0cde600c127a0 +size 110010 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode125.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode125.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..29e3f4f22e8cf363d88bdc1d916a707e5b451bb1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode125.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb286b1b75e81c9f89c7deb76dcba51ae3663cde42c20f902c6c7a8bc158b100 +size 103354 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode126.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode126.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..76a5fa3694af000060fe4a6e6814502d7f20fb65 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode126.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8078ac9b9ecab019f95e31e2591d53caf4f4b65b8fe63dac29d518abd77f30bd +size 20528 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode127.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode127.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1cb00ec8efd793b875a27b9620cfe4a7b5aa563f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode127.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d72e74abbe7d285eb0e221101e9893e5f60edead0e0d0413227e876520c38c0a +size 332071 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode128.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode128.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f70018c16088077fc9b8feeb9124a54519f286a3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode128.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b177bdf9d58cff772c544aa611f481c0be7ad871562edc53a6797dcd8bc77a5c +size 600549 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode129.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode129.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6212416dfd7862eb2f910c801bc396d59f712aac --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode129.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ec83b8f37fb99938ebdf45af7d3758aced0febcebebf23928120109d8a3c0e3 +size 195458 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode13.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode13.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c5e95877bb88bccbdfaff8f2b7ebce4fb8ae458f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode13.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fd998b960000821a50c12e5836a8065b17a7d402573fa493a7b1cd860913589 +size 112520 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode130.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode130.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e25b813315437ed38c8a2b6d3eda12fc0c33061b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode130.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e14344385d54b0d822da7bb12aafce2a8cdc39f98ee369ecb6f9edfe8292c002 +size 135689 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode131.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode131.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1d7ed2cf68af837d4d94e5b4cce10869981f905 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode131.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10fc6944a6a966db735708801c0d869c030acf94e6cec863498e87a752ca67c7 +size 98472 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode132.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode132.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..526253ee004424427a1a26046d063ffbff7210a7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode132.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcf1d05648abc2020a56007d38e731dc76c1a5f236d4dc32fc6f383d04c9cb6d +size 120050 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode133.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode133.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..37ad03091710e1491d8aec04d8dfc32115edc2e4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode133.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48e5cd3967265fc5f010f80675e6e982c61d9d9c5fb6714a7a85c83ff31ce88f +size 186932 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode134.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode134.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..260ffa13f5d4bb5979e91980c95baa381aab43f3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode134.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:647f0559680bc9430721e7dc8ffcc4a3775bdfaac0bfef0dad9d9fdf9cc8743a +size 126186 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode135.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode135.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb8b49b42c13775ad5f3b038a4791bf867e28947 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode135.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fc1f81c15060240733a52c78c6eeb90a29aab10a3f7e2e644a34acef9e0ff1a +size 249531 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode136.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode136.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c9093057f95aaf9f6d3ffd01f173813beda67174 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode136.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ff9ddfbc690ad1fdf797ccd30f324552697f41f611220d1df8aad6500ed8770 +size 84712 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode137.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode137.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..85c029467609ad171ef9a8263f1fdea499de1adc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode137.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ca050f25114be7c6f787981a00a8764e1688b9a985ea98e771f58a37ed607cc +size 134068 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode138.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode138.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..91bba38bf28fb4d1a86ef9969fe5215dbc1f76e4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode138.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b10af4a182ae872cd28bdebf6b580513b0fdb75b456bd00deabe8171ca5cac4e +size 119578 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode139.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode139.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2f18e03c1231ddaa91b25fbeb93c734b9198897a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode139.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01ca12068f357e45899abab47375534751e58de1dfe29d48dab53827f626e41e +size 152059 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode14.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode14.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3d77a99c495cd647ceabca1f03db17b5fe8327a8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode14.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d84fddf32ee89a4b99b127025013183706fd9c5a86682f6abd2016cd100c0388 +size 78702 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode140.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode140.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0261f951c0cab66f44bffc0258f580626c9e62be --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode140.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79464b0f5a53c9cfbf3ab8d70f3b57ceef3fba1347214fd9f1f902c9dfca3a59 +size 98791 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode141.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode141.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc3fcb6797a2d388a4d009ccddfae137e9d49c6c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode141.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84a1fe296b1c4425cca65e976dca12733074cd665fae54a6b01268317c8049b6 +size 123532 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode142.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode142.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3861c4ad7f566812ea10e95b5cff9cabb34c58ff --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode142.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6c4b261fd2a0f443a084f7a2af53a7a27d58be1fecb8ac87af9386eda0de7fb +size 74158 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode143.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode143.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..392afdd81a8c73bc5ff8189454f09b2a60fb27cf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode143.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69ec140a59b212c51234c1a6236170146bf8bcb09c588b0c2a321e620047aac1 +size 185869 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode144.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode144.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4b182b6de55076406442a6d10cddd52d0512b764 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode144.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:091aea9635720a32c41e2e6780a44ef3b027fcdd38293cc4409f8cf62f55ed65 +size 140548 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode145.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode145.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4aeb2f4c1d9eea36484108224cda4cf94b3835fc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode145.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a91d8be61ce9ddc75f6b17ecd147f44cf646906e4caa012b8bc9aa7c59a4cd3 +size 75764 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode146.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode146.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a2c785b310f3207e06e5a0fd2e00e295d42bc62 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode146.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74b012f9ed0db268ecb07cf4209a8cc315302734cb3d02895eb11086ac63e6be +size 94465 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode147.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode147.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..67328b7e92dfaed2a7542d4cdcca6ddc557dcc1d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode147.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ffec2296fe48227997bdfb4ec511cfe74d7c72ad22ae72ba209ebd99ed3ad37 +size 110911 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode148.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode148.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..95c19b321e314221896a4a4ae2c3e605c0ce3fa3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode148.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84c49b3485b1ef06ce7c3d5166c46b20b07427360256f9114601892d313add90 +size 49321 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode149.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode149.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1fed30126a473d1295a0e9cc194d4503fc6c63e5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode149.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4800e60d5d925973a5350bf6ce9dc7a514f4620cc273d8d381f2f17cbb6d6259 +size 51926 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode15.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode15.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..434e15679bed9eb88eaa16bf5b6255ad07320fea --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode15.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5aec806f7c9a14336019abe5875a9ccd58cac7362aa491a6aa33e5523ec4134 +size 166859 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode150.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode150.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f548d5e81887c5805a3b29534939d522ba4238ce --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode150.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a0fe19c9695ac7bba079d3eff551fe69da6559f4380b09a1e13023e690efc77 +size 129122 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode151.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode151.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6a1bcd70c8a0d52656f1c44b26a9ce4fc32b6b15 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode151.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53dfb1388c988a5a6fe4d37ab784db6e08f24ecc61ae699863c21ed4d3b14037 +size 75340 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode152.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode152.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..66174fe5844f743fc01ad0cebcc40481c5f81cfd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode152.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fe825d70ff95313b33059107fa36bb8dfe523b9ce077b6d4429c72b76513460 +size 132361 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode153.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode153.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d00b28f74b8e3b8c3ed3fd54d0f8ed1804afb7c6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode153.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3a4697c0fe32faac3178a2238ce36c9476b791231b5b740076e39e65cd1288d +size 19406 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode154.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode154.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bbaf2dd2b3fca430f4f4d178d9729d769c43a29f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode154.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8ea4f1a69abe66129e2acbe3a7ca69ebc96d975acaec47bdaeb3ec1b146f0b5 +size 100065 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode155.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode155.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c8ff3d7c3cd5e6b1fd3124254f669f9433127822 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode155.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46f0971b8ee35b1da5a8ed77d079ce82571eec1f4cfedf6ba02fb13f742bdf23 +size 172981 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode156.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode156.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..78f8f630828afb420a4af386692f00fcd12f7c4a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode156.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dbaabed9f0aa66cb6e720de1a41588d98cde0334c6dbc3a524d3a2896409408 +size 377273 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode157.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode157.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..640144d6073f65382d5bbbc2ae5849cd8cf84441 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode157.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39dc05d2f17ce31670445fd25604aba2a71185d7e64c38cbb2ea826fb80ec0f2 +size 127753 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode158.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode158.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..54fd2ac7f4b0bd889c6e7c2371f2925a2e81472a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode158.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:064072954cae83adba0d27757cf3be9b51900e2c3b3691d2749c655242aee6c7 +size 151720 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode159.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode159.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3bbd336bd2bb3f0976d6547bd46f539b72b5aada --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode159.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:237f01dc1dba1293829495f691aef6fc7c8ca2e8031066b1b11309e392843199 +size 160321 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode16.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode16.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..63243d49595f90515140967f71f8a9747595f253 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode16.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cc4dd6b46ef28dfc099ce5980b79a156d01d017ac4e561f46453dbc03d8fbae +size 123582 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode160.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode160.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c2d25d3debed4130c8872b26879a8f291e25ad1c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode160.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26ae622d861582c69fcd6decccdabc6406a51d3a6492905f52f3de059545a4e1 +size 92088 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode161.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode161.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a87c235688035c18d97904e31257f7c939904092 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode161.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4892b9388f33495ea5e3ff5b16acf9ebed947ae12ae35b25e7e6c7af3d4c58b +size 341033 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode162.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode162.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..89229a0316491dc257acc3a4bfdb0f967b1ce414 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode162.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cf1c0877c8a667aa5d9b4cf68c53c7f4d406e34fe92eead5ba60dc0565895a1 +size 188841 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode163.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode163.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..15dbcd61a1b4ae8dd415406ce6015b4c7c82814b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode163.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a895a5225d9461909e882c3b812d27655f7aed3190db3cdc4923eca2c460db1c +size 84874 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode164.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode164.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..add8e5701ed529dc906f479789fc9535f0e71b3f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode164.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0926543bc30ae2d526b0b4611898d3e7c6da01b3bc7cac29175ec982ec31233 +size 90194 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode165.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode165.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6609fac9ba5a8d9a07c3f4c08f08a7c2f978d468 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode165.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e59a647c6182a7a9f7b3998c936912e3cb3fbd323af83db3f67621328c5b41b +size 180533 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode166.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode166.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5990f4c754e2c5cfc0b712e4e7ea3123691d3250 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode166.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e27d13f701d974909fe7461df88a2b4b2b3e751ae591bc426ac25a05ebf034f +size 87790 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode167.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode167.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..153bbe603c6c9c62775a48a6c746d68ef85ad1ea --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode167.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2689186dc05735672b7238cbbae5be9c45ab14ee665fe8c09148cd329dc6df65 +size 169969 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode168.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode168.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb8ecb174684fe1580eaa54c4e7c78370813a238 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode168.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d77f9bb0570b6b49f37cf8f5d7ccb8eeae3c120244fd1a3384104d292bd0463d +size 169101 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode169.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode169.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc91179f29784fbda49f96e93fd01be95cacc027 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode169.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:111c9da1ed1360fab824d4cdf17034064e3aa7966da074ab43bf3c54f66f374b +size 99671 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode17.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode17.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b4687103e41ea111a2594510696f1b8597f5fbd9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode17.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e1807e2b0fba66746993033930d4e2e9dd971137098e7c1f3e24d179f7a264a +size 139310 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode170.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode170.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8f8b2c46abba572a79778ff3fcf1c330c4979ead --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode170.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef14f0b504cf5446b0215e843cd0e77a4502d0d4cc026d70a92f9a9a6ad03ec8 +size 39524 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode171.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode171.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f948d81ac74f5e706f07574906551d575deee591 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode171.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85607b18210faf75f89461fff51dd4f43e41f63e10ee199d0356d6d57c048c46 +size 121079 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode172.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode172.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..40fe80d140300981a4229c009ee2d0007972436f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode172.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e901f0c29816718656eb25201e758d4eb9d3807c24273ef8d116a0da9e84a813 +size 163195 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode173.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode173.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0fdab0265096f6db53b4559026d228bea4a756b7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode173.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f44973643e76cc6af4406a35d24e7d5de37ae973f0d7448d0489f766c017f +size 204619 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode174.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode174.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..02fa1d3675e066e3feabf7dc04f69793c6e48058 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode174.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e6247a933585728e8ecaa59e6da8a1d7ea60e82c04c10a662fb52d072251101 +size 401830 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode175.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode175.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a0e2c9223ac552da11075ebc86330cc170458a78 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode175.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9c36244b1ce10caad96a2fb4b24840b9ebff24d930af6d3a8d828082783bd66 +size 180074 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode176.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode176.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dee7efd357c7cf5db6c3ec7ad34266a3700d0579 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode176.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ea4e31c13dafe2c3ab153c8fd12379fc8f463383aaf48a2ed87abbfb9c805fa +size 124327 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode177.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode177.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c612df635268e06bcb540ef05d10f0d4be69b6d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode177.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ef10b217b01086609109be114c5487b0d245455fca65a98ed532f0bf27c30af +size 120828 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode178.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode178.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c8c1fb267636b8b76c17d66576b47ab647dd8d2f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode178.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17588d0a5b208fb6b791600cd9191673c42bfa2e3866f4cf5aa29ab1d0386d84 +size 309650 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode179.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode179.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e86d37d1bb049813bcc9035f4a9c61f726c080c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode179.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43bbe36fadceacf461f42fb210e297f30ff76860a1f63b334dd8eccaf78f00b5 +size 315200 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode18.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode18.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6b9ded55fcaa913ba705f5be8f33bc4de00838e8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode18.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9345cb2e77bd6e3685b1f835d0ea98ced50f26216a1a098af366ec69934626c +size 69345 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode180.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode180.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8cec9b43f0d520d28157ca85c21bd919598c96ab --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode180.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:231c47734a0ce6105c33f76b84e525b632b6fb9d78c6aba81211b7cf68e53f28 +size 93377 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode181.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode181.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8633fae64af54be04a929a8307324ec55b7175f6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode181.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38045674562eae3287377ac72cd65d8b33523ad56adfb9219a6d1f83afe67e26 +size 283705 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode182.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode182.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..31fdce850f072493b94b6d505227e651766e560b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode182.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e1f2e798595a2eda02712ee4374bd7f29ae772ff4b3021d7632df71858543ed +size 79466 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode183.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode183.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8bc8ba92a48d7ae125e93d2e564502ff534920b9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode183.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5909a024802939a4bebe67e82322b2351ae446236765e92dade87ae5ae68b242 +size 20630 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode184.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode184.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..142b36b4f2b9d7b608da59276406106dea393843 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode184.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c8e08a421583f55ca64ad5960a0418ccb88935bb2a34a3af834eb1e300b1153 +size 106974 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode185.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode185.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fd29fb6fb614cec22b3ab421b33d8e127ed953bc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode185.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15b7adf17d67e811e1784aa29711ddc31377a4eaad311726c1653d04fec81dc0 +size 128385 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode186.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode186.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2bf54992dec906c2348941ce825295e0fe539d7e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode186.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8834a248e73de0705af16588e70fc76e92ff36c52c7aef93b46b1c6b35b69ea +size 110537 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode187.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode187.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7093c1ee4c66e007eb51007191781412e6a4d951 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode187.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e508fbbeeaa6988c966d7867a19bdc4cd1bc03c2b09a71edbb19028a750855f +size 100930 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode188.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode188.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..82f99ab53492532eaffa2bb19b3d39e24769f7f7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode188.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb158aa74d78b0843e6866ab338d5d0bc98152cb05663b5e1ce059a94dccbb01 +size 306606 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode189.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode189.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..699ea42c60eba626be33b0d34bde9b63d9ef98f8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode189.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0cf02b17f77069c5f6884399f7ba5bd3c7109a004e5b5ee7299b1bda1a35d71 +size 188999 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode189.partial-1254685-1787480290931484604.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode189.partial-1254685-1787480290931484604.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..397b3db8cf626a500bc0815a08fb6f41ea645cfa --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode189.partial-1254685-1787480290931484604.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1621dd0f9f33c21097dda03600263155c9827db608a29fe09601c828e23193a5 +size 80220 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode19.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode19.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae1b06eb174fe59fb4b353f7a8fbf2f3a0d38ce4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode19.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:934a9b8254abe7c6c74014a81fe564a7d0e3dad6c49890e908aaa4f0275ef437 +size 99197 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode190.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode190.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7e77fcbf89514fdc39cf4a72deecf6a52c2af8f7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode190.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d6655c840dae9b3526d25482a50be20561aad503351563f7d83d47a857814be +size 105789 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode191.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode191.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b4756aa351c508441154d3de92b00d173f8bf5a1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode191.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0372f002875387027b88ea89c6f9d669ff15bd3deec7ae73aa1b062e331ad7b9 +size 95354 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode192.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode192.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0caf1b918f4845b68d370395b00dc63728f4b0c1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode192.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05b56d2a62fd7dc2c67cd12a6cfe0ea1d989063672741cbaf24d9c1ed0d03e82 +size 89080 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode193.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode193.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b522fff09d8cf841eb0a16eaa3a5ed2afb24b677 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode193.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eeb8b7b8a7da77a2ac25401e5218e90f812da5e963332b52237799b35dbf8a1f +size 263539 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode194.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode194.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9ef5206b6ebeb077d9c9871bc6d5cbfd365faf22 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode194.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb7c25f9faa5a83f289184735e619636d58ff4ca37375a3700b25cd55d6503fb +size 140597 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode195.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode195.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..077709ec159c4f32d05115dee3b5578db322df00 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode195.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc1b67dad00d7d154e02809b59bbd0d2b06ba15dad2a92d1f201a99fa79a4207 +size 73193 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode196.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode196.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cb18f2b30d541f50ad7ebd9d51b32649ba525ee5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode196.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:659cc36d44e6b6cbc9d6eaaa34981175bdb34f8793b9680712354c0abef27ac1 +size 148895 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode197.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode197.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cb30208d902c97495769a1b7ee28c88b4f3cb8dc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode197.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e06fb541b61e85110b0aa3a34fc3261b083809259af88698f4480d213ed7e3f0 +size 306327 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode198.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode198.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..087ef10f2ef4eac39c1bdcf4c3b1a89122062fcc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode198.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0f5fe941758a28df726e2c14073996283f491ac2ae7bdca6e6b9945d7155946 +size 108952 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode199.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode199.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ebae83d261c56ce9c8412a262b333645b2eb7298 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode199.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dbc39e9e523af83f7b69b90b9dfc92b1e5b5ee4c3b860f5b59a1c49b4211b3d +size 109415 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode2.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode2.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a991a31d3433be54a49d4b66422dd60f469e2dbb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode2.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d84ef2f97bad24d28a018f6711165cce57ecd0076f3dc7dacfa3556901e75a83 +size 125056 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode20.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode20.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3e34837b5d938158a90c18a30ca7234448a35c56 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode20.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da0129c74aa688cc081ee0ee68956500379076f7e512fc308e6ed1529fc7efac +size 103452 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode200.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode200.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..79a1e9a9ee4c6cf1f3fe64b6960604889adee28c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode200.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ac943b2eb3cc0e16dfbb0e50bd32e2fdd052bd3d5a40f12f1e3e27dc3962b17 +size 138581 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode201.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode201.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bf489679043db5d2b076e7bac1ec9eb0db7b0edd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode201.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f9369c363d61abe76eecd7fc0dcf7111cac56f2cf0140da68a389a2ad7f14f1 +size 181780 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode202.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode202.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c90fd1e85e8ef708ff92b4423a78dfa790b72415 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode202.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c0a049bf8dd8b418bd9aec1d2bc0459132d5a7e52825f699d458a6d27b34c74 +size 112013 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode203.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode203.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b22d8b372beb7e6d4f876529bb8e49f4ef736d22 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode203.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00838545272148b82c0ab47362a1d99eb0084cbc18ae987e05107d5201410d8d +size 112187 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode204.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode204.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bd63823bcaa545d78bd45ac1e65205161d04726b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode204.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bea8d1d42bc946890bfe5c375da91110001ae769c67418ac3e85aec4df6f291e +size 68964 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode205.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode205.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e0e0642fd9cd6b024f5ec7d56948dc0908f6ba56 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode205.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:264e2deec0ad12819a9d6ebfb12a4785d8589986a6bb3d4c9927da7d90d1bf6b +size 693803 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode206.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode206.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f9653f636099ab614550516c439d4abba1bdb3b4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode206.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0496410e74b4a12decac0e5fc7f270fb36a3477a40fee8e648b9d2f22fda928e +size 242682 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode207.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode207.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f3ce39a30aa08fd914df6df717740d881bcd05f7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode207.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f5e13a1714b1171e83af0ea722e8a591346b8746749f776fc1e27b25e6ef701 +size 78408 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode208.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode208.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b4875f57711f4bafc86204581d1e7486494e2dd6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode208.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:255b83c8b61797cf0719e5eec5e07ee67dde97bd6f0dadda5ea2b771ec3df2c7 +size 21145 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode209.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode209.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f76fd8b924dfc2f7026e125ec4ae3a11a3aeaa5c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode209.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3f91317193efcd1243afe870214d0839c3dd8bf9db4d792af581a0b215c0e73 +size 124948 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode21.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode21.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5842f7f0116ebc700f5ac05006b3659769b64619 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode21.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa039d8cc11ce98046a8d699cbbc445d359a283b5648fb4858c1e848cecd5552 +size 172815 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode210.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode210.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..47f04ab47c882233b837e195a90671f51ad05fbf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode210.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7acead7d0402b6192b52a04ffbf8f393cc9ef0e70300cb6531bdec54a8d5a0d4 +size 209779 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode211.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode211.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9a33b0c9daaee3602217a386b055106107f48cbf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode211.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bc5b45dfc181dccd1193b7d13f1c1d4baa0ae6c4e7446c881205847fc8fca19 +size 108920 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode212.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode212.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b27f07a12fab27fbdebdd3053edb3223ccfba25d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode212.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e910b94031333c03bf55ca38929e0a92a3dc93bf169c49b5c20d93edb4031702 +size 134779 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode213.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode213.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a32aa3c06e95c922a011f390c9127f45b14feb14 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode213.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1c723bd297a7cc459d24e1d3b3529a85689e6a551a1ae13f81a9a025fa5e6e6 +size 331508 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode214.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode214.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0b73ee8b0dfe9d20d3ee578af1bbcfee2c700a52 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode214.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f069e4ea546ec7c93df348d361e87f22b74796518e3f58aeb2e8ad22b56c992b +size 98670 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode215.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode215.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..afaaaebc0cb16468680057bb180f64f6c830c3e7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode215.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:035b7b7ed80dae127b45adff35471f9e1610239cdade0b350399ca695206b559 +size 175872 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode216.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode216.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d2438f335317c8a878c79bc646c7bdb75221332c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode216.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43d979493a05bdbae1269fbfa23ed73a61d89137c7a3fe90e0d91d87c072a5bc +size 137785 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode217.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode217.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8962f2b6c053ab1c3ed71cf23c6899d0422a552b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode217.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd2a8a5c81d43a563a2ac673038aec4b720603399f80e24660b5b51f2b69be79 +size 89785 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode218.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode218.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..11beec94750cd88d52eee2f490c7a36752e94d43 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode218.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbf2c8ac3aba39a6a70db745ff75cf810c6c286ecfb71c1650e11da030c65743 +size 98716 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode219.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode219.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..228f13ffa356f915f6e6317c1571c1844e85b2d7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode219.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2c5075305b57754a9990c092ada78923346fc9ebfccd041110253b6d8c58509 +size 75452 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode22.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode22.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4307719cd7c091fe901319870cb4ab224005ef4b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode22.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9a9962a742b106ad183000c7d8b1473f979a20fc5a35a0f3a40a4f242d9ff82 +size 179279 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode220.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode220.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fd6252bb2e801b6cbea59ebd9a22380033a70929 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode220.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aae8e539c5da9f9d9538a8c1b0fd3bf70d5af6e91900c7a7e3a76d3bca1c8512 +size 155487 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode221.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode221.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6250966c2c96fe01afbc2061e8cadce0cc0b222e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode221.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:182328a70e3cef4d1bc9950338cfb26991ac66e897aa0f20ebfba5906892ec39 +size 126965 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode222.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode222.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b7d68bddfc741317d6f971e322ff9648850a8f4a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode222.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b13cca9de064050ee8dce53821fb4e042249390b5afb2eaec978bb87f1572f4 +size 89712 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode223.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode223.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..043eacff79406ce42e2c38f0983890d433a56092 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode223.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cbe935a1097c93f6fcc211692950bcf18669dd911c44fad1e7cc7922af42b3f +size 122075 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode224.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode224.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a095aa0f8c2a6760e115dcbdf9596d7103916be8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode224.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e23b11b2a0a5520d5e7a2ffbce1f88d757aebaaf563996821ce183ba6a96a7f8 +size 127605 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode225.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode225.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d8d7e5da1ba53f44df0c879b038a46f05b45c3ef --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode225.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5e4ec35309683e1e464cd750c878478bbf86cc751bfc08ce61372723ee32ad4 +size 166995 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode226.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode226.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..83de8f7605f95b8744e3029f10c12364a139ca55 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode226.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2665ff30861fbcffecc74460d73d38dacc6348695bb573c9967125615ea50a1a +size 138100 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode227.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode227.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9828d4c9abb10f8aeef681eb198698ee82fc3fc8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode227.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b17046741ea06b80e9af72d9dc7095ecd229d265c7b77b9a40f3c33e068e251 +size 104120 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode228.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode228.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4af8ce751dbbd59a7fda52c1ae05261dd51f381e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode228.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5deb00000f66ee6ec2f0e240d067b0c9fa890d78487e09f49692cdf5902fba2 +size 143436 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode229.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode229.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed15574e230e53296eb1266f6a971de782dae8b3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode229.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41fe6d58db20b75a1aa4ba1237f3a278ac54ebb916726d487268aab89e911333 +size 113708 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode23.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode23.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..10c4bed8a941dde26edd062c3372068155853d61 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode23.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a8168085ccda11d8c8a2db44ea67851376d9f9aabf64da3ea4aa87dec06368f +size 129301 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode230.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode230.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..db0794ef5478bb98fa73474eec058f67fff98034 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode230.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0c716a02f7af654d8a3022b8f34b83c1619e5df41ebe276f0e28f3011a5b052 +size 114585 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode231.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode231.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4efef112d99c6b9789a23c9eae25ff8bf92f584d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode231.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c8132cce28e76de3464c4166ee066d270eb01ed2ead0cc3c1ab516c0cb3f1cc +size 167854 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode232.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode232.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e86b72c3110861aea562e60d2010a1c77d226d0b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode232.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cd0b72e47a4cc5a1207b2171521bf56e719e502510ac58351aac67c57af2b2f +size 156208 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode233.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode233.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb5f244d9ee3d929604ac9541c30fe563e316e2c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode233.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cae4a4b7484062fffb2bbea7a89ed60daf9b168856b58ef6434ee4d844b72f99 +size 16165 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode234.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode234.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f179c6ebd93f39e90e729cf25575332a9c4855b1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode234.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5274a01b5702a098f1829ddae0d33f8bec572116d985b04ec071cf6c9f8c33b +size 72653 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode235.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode235.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..35822d423497f361b7b7dade11aed0e65f887196 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode235.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4eb21c8e90a0c0a76b01d51bd6f4e00dc5f0045e18b76a68aeba1e1be7580abf +size 140545 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode236.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode236.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..32f263f153563d24d7ed5ad9688e8b97fff2e56c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode236.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:682c20f9cb1ea85fbbbf0a360dc1eb4e2659ea74131f7df511a994d22f81c040 +size 100046 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode237.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode237.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d935461549bada86cbaac8a97117e61b48404f1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode237.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f26a7432bf0c576a919ed15655b9dd27ec1cd67008fbb1d808e8ff8bca6d5625 +size 97764 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode238.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode238.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1e6fd95862bde8bf74725957b0cd39d1c3e40489 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode238.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50f385981c2c9a2f645c39ba18cc9090b88b4ccb564e0a86ad67357b52be88b5 +size 202595 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode239.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode239.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4fcd5a47c81cfe7c9cecd90f5690d84121f0c3eb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode239.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8b211a39dd5f6373ff3c8210233f105c76f7849e98bac0ed81ff5566fa49c0a +size 102624 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode24.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode24.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d429b778eb1ac5d0588261145bded2ed38b790a2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode24.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f776566d37c24c955f6e94605ab2a54177529bcac0bc6175fe84545760bd516 +size 96769 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode240.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode240.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2b143e5c30a06d570a7af7e893778bbbd5ea400a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode240.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:618efc64458d05dad10aa2330abe421252ca1d590bed9fd8f4efc6beb5d59564 +size 123432 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode241.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode241.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ce962d407f86be583f8330de5c16b63c63e62aa --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode241.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:933e7d65ee76ba703d013c47a80eddac9b70ebb324acee0deb13ff0eaf499e2d +size 96010 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode242.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode242.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c97e8ec0a58e1686f7768b49f6f27fcdbadcc2c8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode242.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:982e5c4b446a497fa47f2f6bc51f7ba6de09bbf2f3ae0da74e2e73d942fd6a1d +size 120823 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode243.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode243.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b46c8044f0780ab3d895af1e5d8438f30ee26f7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode243.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53ad21f8ee9be02a470b51e54bffc5140dc2add1882735e989db423065bbe969 +size 263056 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode244.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode244.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1fb0606093cbdddd355fa0016e5fa7ead481baf1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode244.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db282a2e7df1d593e1ba16fb565478004857c1eaf2a5aeec01a77d7e7f13148d +size 166922 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode245.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode245.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4d17519839c719a6204b29826e6111b0d6aba3f5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode245.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79f359260faa94dc56db8e82609731a50848686ed9058d23bf1d8e8ada007330 +size 122499 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode246.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode246.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8b08de41e8cffa10c58cbe9fc57098d4777c03b7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode246.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f2fc86a44b8801aca46d4820fab3c546b9e748b73daf62b352fd824a40b9fb5 +size 116046 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode247.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode247.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc5f8d02894a582349cbb8ab4c50bb4b3d05637a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode247.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d8a395173468b7a557272d24424a6eb1ac52849d4380351d98e3c908ab5567c +size 98170 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode248.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode248.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f14b8ce969ad0c08fd0001864980d11ea60119c0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode248.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efd86682c38b1fc2b1a4573f730cdccbba36e4337eb999957d3953aea45b9ead +size 272918 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode249.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode249.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a9c963491040948d790b7fb9b8a2f950ac05b0be --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode249.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4866a538673a99b1d396a4e38fdf149d069252deb76a63b89a69ed82cb6b513 +size 292514 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode25.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode25.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3994564a3f5944f97166d842b3ccec415edf7610 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode25.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c25d30940290c02f720929ce3a00d4d766f15006aa559ed914e0eedb79801ea1 +size 154091 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode250.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode250.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4358b97d16eb021f5f70909d031fc03441b1113d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode250.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:555cc1742e5befcf2ea738ec912999f3d3fc76bfc16b2dc58d26c322b38efc68 +size 109205 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode251.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode251.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cabf7054c53a104dbaea5d6e4911e19f2491a327 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode251.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f47e62cacc0419433f057b14b8db41043a8c3e4eb974f7911e051bf3c731aa5 +size 20568 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode252.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode252.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6a5b61934f034639dbe1aba90a6c974d8e331639 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode252.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc34e834e5197cfcac8741eb9efe5de1f456bde2c717ab3436aa71bba980af96 +size 125469 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode253.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode253.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e69af6c35e4cf13dfc3cc070acdc2d03432a5663 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode253.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ace595ecfe13c8ea5021cb1884a20af702df0849b02a15bb09cea9b0a49eebfe +size 189349 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode254.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode254.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4ec13723ef8442286385ed0e3ab4f7975e2fd0ba --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode254.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a1b9376c3c54fabc9ddc77c3c60ddebfb458ba26dac5fda50b59dff87eb90b3 +size 110653 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode255.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode255.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03d974fce1c0e08ff77d9240f0ea1ec446865c91 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode255.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2319d84f7356f6d8bf512ac8b3acfd17714c27bfcd862cde256d16945302742 +size 305245 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode256.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode256.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1c208e3b4a6c335dbd01ffc0cb99886a369aa8e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode256.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33c5015c8238cb31b2caaaf36164fc0ec34d96dfd5c6c3c25cd2c9ea289b20be +size 83525 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode257.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode257.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aeeb4d1295779593f1acf0d66027dbe52681a875 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode257.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b9ad145614a412815ae356e61311837ac1a55d512addd056fcd77865d86e90f +size 344250 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode258.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode258.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1b1a8d0a8780e307286f5e52c0d682ce73eee9b2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode258.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d89bbc603f8fb0751f9d30d8ccd2fc7531c28c2c55dc94f2e879419210f70c21 +size 97196 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode259.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode259.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae06240595283ae8f11b1417fe5f238faa088fa6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode259.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ac7262b339ee2d413465ad05a1980d8b3687b10ef4c32567ecee6d10850d2f6 +size 122378 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode26.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode26.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..57d1163c78a455ce92f229cb64adf052f0611662 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode26.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5f0852a2f3795302694f35ca567a96d1aac31d45e12be27a7511116f8cec317 +size 421630 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode260.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode260.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..04862ea4160cb0d3653eefd391e7d5bd0ccad75a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode260.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cb37394108bfd09a973ed87eb35d8a7eab8e74336affb6648bf00550ad7c7c8 +size 87021 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode261.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode261.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a7c3934ebde722f736829e79989edcc01009fa50 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode261.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:276769472292f676eada6c81109345197755593baf66a4bf8ba83cadf99e476a +size 223994 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode262.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode262.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a48e338c57d1f4475f8244ea964c104b2e7a62c7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode262.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ba4aa4d0aff2b6a3e4f187f9ae00c478d24bc5b2e70075c8ed81083ca1f764b +size 107741 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode263.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode263.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..57171d82f6a24054c3070d838ef38b9d34cb256e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode263.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be1f3d2addda792cfad44f5012a5814f7050d32f6dfb51ac2d4a607c2604401e +size 121117 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode264.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode264.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d4d6a58d11817ac90bdafab1dc319e44dca675c3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode264.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2fcf84954aca1ba19d693364226bc75c4a2e19648f5a98c50dac1efaf57ea4e +size 170634 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode265.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode265.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ecf0a3f5baffdccea2e1fa40b4747cb488cfe773 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode265.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e259884894de9bf22b0763993db14fbad4d77bb5b095f6412577aa2ba40b16a6 +size 107350 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode266.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode266.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..88020eb1a324c72d54056ad6788ce6bfebc3eb9d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode266.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:535d34beab7b0511b0941707f53e31a8bdd61dbb509b1b23b45e9d1d094aeae3 +size 68431 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode267.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode267.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..694a43cdc07b868bf30244c189a96ec7b280e32d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode267.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd5939d7638f4dca2c33263d775a475b814402962391046ea8eddd67f188aa21 +size 218213 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode268.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode268.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d0d13d70540b16457b81a7b994164138da96293d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode268.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85a2c730f78da6c5b3bd040209837470b1f5f2d32e57dfd98f4dfdd2b81faf09 +size 202101 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode269.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode269.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..be651abbafd54e01a4cccb250547d3ae3161e8f5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode269.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fe720270a0ee853f46b8e71db5b06e995033c948714ee08ed710fbba05f29b2 +size 110364 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode27.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode27.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e09909958e248106ff7a670dd0d25f94c0f58c25 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode27.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0534e4d2ecd347793984365a60a61dd45423b9f0778ba969163dc0d022a621d7 +size 132081 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode270.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode270.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f4008ec77242596c54b398fda2e6241c525860db --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode270.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6afca30efc14171d88b5191d62293ba67c326cf7d96c7cce66c08cf85dee1058 +size 101540 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode271.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode271.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ca46b198c790b0c6c4c739c0e06f27adbeb536b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode271.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6550cd16ceb0fded18fddc24de4f81060bb2d4e86d48c07deeb13ef303e8d6b4 +size 74191 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode272.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode272.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cb3b46cad3e1581cd4944e327e869cdf62460ee6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode272.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:891f6c62e65605c71a712b0c4c86ff83ff5b45537eae0cb905f6dd648d3d68b2 +size 72406 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode273.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode273.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e9642a6630d14a81fa864ff8fc8b63df733555f7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode273.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:279dc86d351448e6553d8f68f7ec72384ef37985be4266dba100d05b0fcb5a7b +size 144941 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode274.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode274.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0cc77d714432b7173c79210c6c1a5634acb8f80e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode274.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a94055d43c3dc2dd70e52c22e3379e24a3161aa6273ffa8c531620cdb415f34e +size 196624 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode275.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode275.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae1a771e1a42e31e8a2dfb52f25b1ea10bc2500a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode275.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2df6aa6d17e355ab4e02a56277effbe3f33c06df96b2819ac6a3349a78da645 +size 168930 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode276.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode276.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f0b04f2532e57a4be9721e17219faea7922b666b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode276.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3711c2d7dd3556247474e81eab14830ed68b3a047d28388b87333340b459576 +size 140021 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode277.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode277.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..86ddd81cfc5abfca6609b7f20b1a6b6d6c9d7769 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode277.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5697dd7b4677734a701243575b0408d5e7bbe3d6ad5a4c21fcc7f96fad730822 +size 162991 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode278.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode278.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aa86326e0cdceb0379da8e47f74770fd85f48e42 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode278.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dd4a89403755533795471c6e365c8474fa18de422846986469f86a7518e83b1 +size 113093 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode279.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode279.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..14cf26506e9a6ce37f637400640f249d0d9f15f9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode279.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d3001c4fb14fe7aecf2ebfd437cbdb7c448feca3be50e71f5dad0acaa5fd298 +size 112509 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode28.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode28.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dcb65811cc68c9334bda2138442b69065396c299 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode28.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48b391a31f793f6fdb51d2257cfe8a78072e82873fa81eba67bab0bb12b6f0ea +size 139154 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode280.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode280.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..31a621ca5c07bc69833da358a9bbd58d695848ca --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode280.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7ede95fd6ad22d929eb75c8f838cb2cbc786905ed492f0efa8d1f41aa54c08c +size 121982 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode281.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode281.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..66b4450e1b87d40397c58afb2ea85572904ac68a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode281.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8711d10d3dca16a0d3f2bd095b8c5e68dc59ecb2bb608d3eee1a3060e7f4ac77 +size 146413 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode282.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode282.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bfbb15b569ec459eb8fc6d9c865eb94d77c06f9a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode282.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c84a1b4de020d64cfabc9f1b80761e98dd4551267b27c8468e7d1af97144501f +size 258799 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode283.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode283.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..de1201fae58e451ded86c4ef660505b902827b84 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode283.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a22c8fbad9052142f7f72754698b8a37fcca495dac4c4369d9d702bbc2c360aa +size 75865 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode284.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode284.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b41ba010f41d8fbabe3c87977bfa9c4022abaf8b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode284.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a58c9e11814ccc3c88ebab5bcad24c7810b596aeda3848d5be9c074d02d6696e +size 89191 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode285.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode285.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..477f6fa0ddeb024275b6e9a2c08e9fdc3028ec2d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode285.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c414e5cfa820f60e94a299145740da8826baa3396ef3de23f2937058ffd7ed4 +size 395253 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode286.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode286.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..de8d4f609c184f64bd58066d4e0853638a815a2f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode286.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbebaccafa87f87541295b87930d66ebc41ed0d2c2c1cba278329c006b18dadb +size 209952 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode287.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode287.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4788a058207c55c5540b69f76d1b57496410fea4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode287.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1711fac9c6133cf88cafc39f296c2253b8d71ec120042aa0d8e5a1e339268c6c +size 101640 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode288.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode288.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..db6a13f218c0ee5fc8ff66b4218942513ff20609 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode288.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56b505d7eff0dadf2f881b160833648312306321fe65ed8969a0daacd9cdb30b +size 73013 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode289.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode289.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b5e688abe12bceb6af7512f3c37def684fd358c8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode289.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b9115b316b23d0dedad6a80402473304e64c031d201ce6b86d6448c06eb3ab7 +size 136634 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode29.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode29.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a4f996bae39318366f149ddea0de11a72e4e7009 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode29.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db7fca23ec779ca88c69cc54756d7ce9b4d53dcb0115910f15395d75f96a8194 +size 85823 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode290.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode290.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b8594dd09c6f694ea9aeabc8b73f7e6f8bf2e5c7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode290.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7698a78c40042d7c30ab74503d07fa828a5300162471a19d278dc0957b93744d +size 158595 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode291.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode291.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..28a09d32ffda5ad5414a388c41e5271533bcb0c0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode291.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:348dbcacf83934f12df88ad72f538ca2a765ec932ca411b50517781aa1bca1b3 +size 134218 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode292.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode292.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4194994efeafd21c9c50ec50ba1edd6d92187367 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode292.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2402a02a07d1754b8f568e68cd071ab7abfd2a064161497acf83df5d92fac096 +size 134872 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode293.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode293.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b9efe8b77717ddd1e5603dd1cc48c9a8f84082b1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode293.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e9f30e0c84ec6e92fd7f1794dcea07f727a5969f9c9adca6e721529ffe90920 +size 356850 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode294.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode294.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..06cb87336b8bcabaafe84c862e4fa325be958ccb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode294.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21465b64f89a863d6a1e2a381bdc180e4d2b557a3d4c2ad9698d580fe40bb211 +size 164428 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode295.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode295.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..80172df7c40c34a34aec6847c100831b6613a985 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode295.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc0aa38e99438a81cf4f137791b3e02bec6823a8432bd63a0b1dccb7b8c2fbac +size 166603 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode296.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode296.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..daabb93a2df3d619b633707de0e585de2bf96a1e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode296.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5e28fb3024172ba2bb8c67d8a00d4dfd1099cbf85550b0f8ee8f73d12624022 +size 105867 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode297.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode297.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..17efc7e60bd46b127e1d8ad79725cc7f7559b61c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode297.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fcf13dd45921b03c365ce29a0e88541bb70357369a39420a9532067b0c93693 +size 131488 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode298.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode298.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4125738c3783c3f141542b65efad779ff370c5d2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode298.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b5712a95ec1fed207f96e46dca97f519826eb25459916caa1e8fa71c9e76e1f +size 109142 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode299.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode299.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5f13737067ec063f9d1730d8cb99f8e55c1d38d6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode299.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0c3babe6aab15a5984660cb2b565a99d25785ee3564e6764b8d0562cf6d4a23 +size 179546 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode3.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode3.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1ab643f40bcec2c33e79e79ffd7bb3a666b85c39 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode3.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cafaec2fcfb5a03637baecc67407a7ef31e2d9421daa5897a124eea1cfd1f954 +size 142047 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode30.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode30.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..524598f69597a6e2e8a6c94b11779b2a9f701880 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode30.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e87196093b97cefe954c4840aa4e3071af997e69c2b592f735076b3d7a4045cc +size 85924 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode300.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode300.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..23300c15056a49d794eeecdf70959331b8e7026c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode300.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a288523103754bd118aa9b2cfb4308380627f2aa780b38f026f248b2f8bfed7e +size 172519 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode301.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode301.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d186bfe6cd2e99474d52f7ffaf67ade638c86e11 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode301.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99b7b46e2931cb6e68fbb8d0f0f075b3378ba746620b9ea150a111d41cc58fcb +size 400535 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode302.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode302.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e66e652eef6f92c3f0f24f1e940500f1e82d34a8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode302.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16457229802b1036d4e2350babf0fbcf57e02c16e91ac77655a99a488af441b1 +size 147184 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode303.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode303.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..308e7e9d2825ba611dbb32dbd8e9c49bc7b32540 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode303.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cc35fc463fd1796f3e2cb96b3bce7656c3134d99ba62880026166ef6d0d9745 +size 94019 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode304.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode304.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6ab4f226a6d332088d000bca524dd0ba240e7801 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode304.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2313fcf6eecf5b4d30f06679cecc7847f9cfbca12b0043051f6fbea29edd880 +size 114637 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode305.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode305.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0675c420ab4310a15837b516fdb574e173ec79ce --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode305.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2365a2b50bf84f63080f4d21060491faa946f49baf721e705a67d18c58ce894 +size 87892 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode306.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode306.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b3a02a540ff612611ace0774d32f47a3f3a590f8 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode306.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e516a7dcbfcc30dcc8d64ad86bc6d73fc882e0d0bbe0030dcf8af43507f5b307 +size 326405 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode307.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode307.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9b134d2b7e24befb8ba95292fe6762af808b300a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode307.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e12264c7c0966e328836ebd132f4560fa3ceae03a2502661477413a7c9b7b6f +size 161769 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode308.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode308.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d2aaeccdc694c252bbb6adfe68fe21da7f4f4c7d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode308.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b21f4823aa576390fdbc62a7a370d8a55bf7707cb450e5a1ba06ef4446456da2 +size 91046 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode309.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode309.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..46fd96488dc7a9e03b933af6691f0c65897ea704 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode309.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37668fc2165cdaf01765a35d13b9d3ebbbcfea00f3f954a8ee55d3a69084c45c +size 148416 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode31.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode31.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..727ea09c1d0fac86e4a30c0634cf2830cbc66bc9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode31.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d2a13cd86c5f78835eef366875addb72d642e1041ecbe049511740f50ae97b5 +size 76560 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode310.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode310.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ad44c977ad0276470390c67672d5a3e1d4591b56 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode310.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c11bb1518991a5437834cf5cc2eab8214675f323d58f952841666837196750a +size 128560 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode311.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode311.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e1f3bf3a481daf4e05ad984c35d0b3d33335c6b6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode311.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a453bf50fe14cf47b6be52226287d17e905b520a0d7c740ef905881ef954670c +size 231942 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode312.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode312.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ff633672e99c54d01230513f1d05537544ce77b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode312.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2facccfd6e48c80cd864b081ce9e6bb4c710e3f890aa959df6a362c5fe708163 +size 316928 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode313.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode313.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3f44770556bb46d417b4fff251443d669efd3447 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode313.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac85e97f3f051c98712b6d0901bcfa54981ba9b0e897832a399d27dfb890514c +size 109545 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode314.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode314.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..57ba001401ddf1e90887bf8c03f28cb679759e68 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode314.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92623937bfd7662d6580004732bd35eac6ba5f170d9a442f444fd2f4b0a3a233 +size 122587 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode315.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode315.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b190b9922a7cf09b37ec85d6c44fdfbce538eb9f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode315.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15676a604c3c01ccc1ee5e727a9e3d7a95639e719d9abbe91ead83243c7365d0 +size 123670 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode316.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode316.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..973c31ef99d726087e2588e4b73eab46dc806b8f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode316.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48b4707c66d0836523a485ae573f958bdfb701cc7a0c35a436c402ff9d8e8ebe +size 397797 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode317.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode317.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1352f5532421cf8201e87eac735046433fcb81d0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode317.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e302ff0ac802c47274e6285e84c7b8922be8d6b7dadc631b869a3c16f0481289 +size 99070 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode318.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode318.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f2b10b7aa61426b1214f84ebf6813d615f986b3f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode318.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7d7d2827ea2737dbcfc1689deba75934e66f7a4514c663cdc03ca79561e84ff +size 99748 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode319.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode319.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f4ff50cd093fc3d064de065d3c8717d3a0ccd3e4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode319.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d03d5793e9970def91b5ee288f25d79c0bde73c53548ddbf7ca9e429b3655221 +size 76240 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode32.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode32.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..52df9b532d24751af4aef12db0cbc2fb64551e7a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode32.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a8d4f938b8699d7c52b8a784e7ae01241861711fad505c2689bc824da40e882 +size 134463 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode320.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode320.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b907d44ed033b01248d3a447bb566a916774773e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode320.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03d83985f460bf24650c8b53c9eef4d1d6014a1c8a0646f268fe4ea600abd707 +size 223685 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode321.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode321.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e32bcfe3f9e27a537487ed5f3ee6811841c29d04 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode321.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:678b63fa473c7176e834893f88902a8d9b2418a1cff0bd1e338fa8d4c4fd6ae0 +size 217091 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode322.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode322.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..775cb28fc20e97468e54867423b43e99162f24f3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode322.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4ceb304d218e8127a856e0bd738f4fdb267dbe596bfadb4560c2106f727b0f2 +size 524998 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode323.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode323.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1d244aedfdcd6d7ed0ae1143fc76cd2605813976 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode323.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06fe57281dc58b6986f9ff45a29cb6f061d495d78021229e31af3edc8eebcc24 +size 222999 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode324.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode324.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f726ea79f3f66ca8a95b74e1e2d54c6dcb6b93f1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode324.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:542960a8bfcc0c508350336c27123af95722450411937c14ed9091c75bba9d15 +size 133399 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode325.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode325.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..88676fdcd6e68cfec4b1145038e6f601ea8f4d53 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode325.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc9adc0386f882ecac6e73e89113d03994c31df194ec3268ec0c88bf78762deb +size 288100 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode326.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode326.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..290f7ae30e8ab0cdd73db8fe0ffe8c17a38ad5aa --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode326.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce6b4db06d9d990bbbb64ea3cc6b1a4e63d1144cd9190db0d65f878c093c8363 +size 197639 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode327.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode327.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae7c9067b5134849bba461f51fa3cbc4a65a0a47 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode327.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c4cd0c80d88055c733a48fa6b8ef3a81e7bc0dd252b919f5cffbc4a8daa7dba +size 107417 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode328.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode328.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5a8a24ab217b6d2ab4da42d83dd39e73e13ac1d9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode328.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f20e6e1858b71e8676ea620edb91ea53896fbac6e197a38e897d92830f4b3880 +size 407199 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode329.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode329.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1ae79ed5461c5c70e702b013bb32f89ade8f8c25 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode329.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b37e0cdd21598b7d009fed8375bb58d573f0419c17965823e4c41a5ee82f9fb +size 162236 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode33.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode33.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5ba28336b94c4566e737008784106154fa960d5b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode33.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b972249465bde7fb845cf2b4a89c39ff30afc41071dd0e84e809c37ccf574c70 +size 94803 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode330.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode330.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ac071852901ceaf225ad7fd2bd64766b92f7fcb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode330.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb4eb7aa6a57d15ea52aed0efba714aff645e6fbc1eadd99d1f495fd244bc19a +size 76660 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode331.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode331.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a7924eaff8d3635384406d641550e27ee165b378 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode331.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d15b4c57afab7fb1fb5c19ba01ace8f76f10857855d1280bbe9e2c98c2eac6d2 +size 446755 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode332.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode332.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c66f1358fe662e4f3d067c216aa57f64e913bb67 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode332.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6b7ac85338adc0e81b4e33b1108bda9e95ecaf8e771af56a6eaabdef2b97bb2 +size 167541 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode333.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode333.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d5d640c9fa6c147030d74bde296c343da9ad577d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode333.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3046f155ccddfb761bc7748daec5ac9d270d2f9d7edcc455cb3c45d59605bd5d +size 87308 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode334.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode334.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8f40ad2ba14b72f30e3a381121c142f540edc1c2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode334.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3e7f70e08934ed8f652898d07d7f7da749374b79fb65a014e17203cce56cbeb +size 105743 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode335.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode335.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aaca06f62cd5de69841a6174da1eaabf97a1fe73 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode335.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e29288830fa8d53117c4a51f7fbe4030551a04add2e6231fa0a40566c94b461 +size 500906 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode336.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode336.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9ec84706fdcbbd4cd6bba44250e2c730a7a3007f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode336.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31b12668d8e0c889c9c32dba5fb3d39d5ea7b1ec514fced13b8b9b35435f8914 +size 206817 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode337.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode337.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..83b5392e06a170d22a8e9e0c6b4cb6d051820ff4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode337.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71b8ea85bbef2e8e4ffc20e8d568c56ce6d6938961cb32350bc42ce4e58cea60 +size 82128 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode338.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode338.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a186e9901e4b225b99d728a49528403c196e200b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode338.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b65671ab37b9ce3d4c1df4c0ce238eab7ebaa5d0222efe6a6a32b9be9c5c9821 +size 122286 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode339.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode339.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a3018720766d3b3d0efe3e7b185bb3def0a73225 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode339.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfb3c391cad48f42633f6fb66a4679c135314c67c417dad9c0c8afe0076c603b +size 141684 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode34.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode34.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..caddd9f9a1d3cd24980b56e7e937b046e5903cdf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode34.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47d4ef5b22102f5a99cbf2402521a1deda8f56263ac1947bfe3d404fcff4d5c9 +size 119758 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode340.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode340.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a53b5c6b2a51af18bf308e5afeafc5a4e8c408e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode340.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7174f94feb4e77e3ed62bcb9559206441469a9ed6900e516469053cfb112975b +size 115846 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode341.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode341.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4091c6abb80ff7754c72aa476c9ce9fb39cde49d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode341.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efe4563c6879871190619746a50d5a7a85d01a2df924f20ba741c5ac848ffa71 +size 188408 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode342.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode342.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..40be1fa55cacfd9c3c3dc9918855d129b457f118 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode342.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0a5b8f91f0635f735a37ad8503053fab42f5fecb7ea6de02817c13a662a4ba7 +size 139414 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode343.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode343.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9e6005d082779458b46037682d0fe7b36ae6e480 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode343.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b5a1213b27e72447c55a2f29ecae4c849160dda6366e641aabac544bcdfad25 +size 175598 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode344.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode344.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..79a897c81ceddb6f4f80f891bd40f2fedf1f6574 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode344.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c7a07ac928c1481470c1b67c38221955c72c319372741e595b1f2ffd0fb4ec3 +size 141816 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode345.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode345.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a6bea207db6541db199e7fe8d340d59ba57a34b9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode345.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d774cde3d078a101dfe346f190d3795543f863f2cedaf8502c4f6ee381e925b3 +size 95561 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode346.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode346.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..494556e699e80c612a60c708ea2f08b1c921fd43 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode346.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46d949ffa45bae6d79aee1598e5afca98aac99be8daf23c9f18280520755b86d +size 128015 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode347.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode347.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..06bc52093fc1a133638d068075e4b2a112cab64d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode347.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcd16244cd658cd2f533064226c0ba2f93b743d52b3298e1616122976023c496 +size 44197 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode348.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode348.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..443a76742d7c133f84030bf40cbdc34ac84d16dd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode348.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c1643a365a2f792d21b594377918ad9d1fc42e21d03e083d1303dafad8101a +size 128762 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode349.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode349.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d6fb8cd7baad9aa13d75528e6f7e9381af7fa5e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode349.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c878249762c07c37a4aa117f3ff9fe6209edbf3aca8415b250b0c798c1c0099 +size 121222 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode35.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode35.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..805429466462d939622e9766cbf733ab1af0e657 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode35.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:745cdc59e846c667add9bb0d68f2ea947af18dbea04f0ab988484bc8e21a177e +size 90158 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode350.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode350.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f848d5b171252019a339c829a61d8f81eac73692 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode350.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cecd176fc5d39e9dba4969f555f82212662fc58d7975f966e3f3d41ee2173ac3 +size 103639 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode351.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode351.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b640245d3f10ec4e347bc7f3c72d6ef1b082f32e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode351.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f7958bdd0a45804890fa1be6914b78f83f791233b9377e8fa46a4bc3d307d70 +size 168107 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode352.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode352.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8bfabd3435f5ce800ee128b146e7794cbda3f456 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode352.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5d3c557e48da10e8ea2390bdf05b01e8f05e77e57f7585670754736b93a520a +size 67921 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode353.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode353.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ef37db05514c303828db771bdc5161b665b9a522 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode353.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2adafe2971d21bc33d2f1285a5a3b72c36b51276743d5aaa1610c26b1d52be10 +size 140267 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode354.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode354.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..78042e001aa58c8905a80bb6a5840770d87f5df3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode354.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ac8f8991a90db35607a992638809582d71904b22b0ac0efa15b999eb863fabd +size 62131 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode355.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode355.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..370752bb53c59f679ad4e4ce6e00ae39e426266a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode355.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb8bf754a2646f315247aa254bb1a9e2a3b737fdb2852824330e89f1589da73d +size 45139 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode356.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode356.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5cb254e8c0498b37460e9389785adbd2adbd3775 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode356.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbf85cc2e680d8468bd297c1ee18629af6022fd5bd17a08dfa56016c0bd1a6d8 +size 64500 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode357.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode357.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..390e4fb949aaec9cf44f125f958f7e3eb2d14bc2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode357.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08f4d4eba17266851865ddb858d679a2176fdd4e39eeb69c3189e4a253254b60 +size 83999 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode358.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode358.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4d90f380eef2292fcd2f8fe877e8ef8d704cb41a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode358.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14b9a25771371da959b7461f7796cf8fc47a9ae27038b9e2a42a965f5f4a0b6f +size 144044 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode359.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode359.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..67381c4caf287fd28420ead83bc404839f1d4fc4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode359.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9da195135ad7a31b6b52890fc355bf8d6a9522b6473a00ec557bad163ffb8657 +size 261994 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode36.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode36.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b55cda4b76e50ba00e2021cef3fb4daaa526a962 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode36.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0faa2096d1563aea9d9a1c6f6721831793a4b97d239ef9ed26a26f207be97aca +size 75922 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode360.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode360.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1562578c133847dd8e324537137e7137268610eb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode360.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db43ad45f0b2ad5bcb1301d9ff33f6458346ab01497960f5af08bc5a398e4e7a +size 95735 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode361.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode361.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a7063eb9dfafe6e3d3e3a3a2e54540b072f5dabb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode361.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4cb06ed3293fd03bb6a22d538f9c3a2bf4c78bff92856db5ebab985115820ff +size 162747 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode362.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode362.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..259d39420db98ad0713cc0c2abcf5a77886b8c3a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode362.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77455af1c72b5e49c43a584232ffbc4986d72f8eb93a619fe61cb83569ed5f46 +size 103471 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode363.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode363.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c706be0207dacf3d3910255fb0b676855a5d74f7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode363.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:308c7e3e593a8a92ef065734cc0a8856d3aac8ac9372b8e55560cb5dc6018f38 +size 92164 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode364.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode364.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f9ce49322e8816f726626d3a99598bac7df843de --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode364.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4880fa67d39ed5e378d59f12bf643cfd1dbb9cda23ec6dddcdf56e805a1581cf +size 129462 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode365.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode365.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e52c3a88e9ff5bf390c64d3fb38cd736ddd9e5e7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode365.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c55cd1d6dc18b98c217179479fa506bc6de050a6505390f9e0481a8d1f7833b0 +size 140308 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode366.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode366.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..507000a5a7d02a0b2fe30c06454727e2f6cab77d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode366.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4097459b18663c853066b8e3035d7def88ee6ad36467bc4c50c8f37d86e4a5be +size 100466 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode367.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode367.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3a08a4acf02f87b9db496448c6bfb00757aa574a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode367.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0cdd5d77e23626bad509ebe0d1b04df21c9bb2a79fe51c61316c09f585fd97c +size 144160 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode368.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode368.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c8a2decc07d38387ac363d9196c77b51ed5b4cca --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode368.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dd7b363ef6c3706397ce9aa9de65e46ed5cc78a34f3b3a736afa91f563ca0ee +size 261160 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode369.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode369.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1c1ccd69525b0be48ce97c66cd05d1f8d87496a7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode369.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e35b5f5e3bf000150f617849c74b3f05df642fcfbc07e4e9db5bc63606eceb22 +size 125116 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode37.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode37.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fadc73f2e0b6c1fc103e5749ffc46700d2ca697d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode37.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25d63ec7d11e902b343432a48f4377acd162acaedae3fbf627f453bb57a996f5 +size 103997 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode370.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode370.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e3091a0aaa367705185c1e4abe9ef27cbc7ac08a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode370.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7ea3b856df3d2c6691eb2e962865ddbec02e55cf429ecbe5583d81caea217e6 +size 102028 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode371.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode371.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5dae49e8306bcedf4c26666a34efcb82fd85f6cd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode371.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8d94510ce4ea627d387160e3892f5c1ebee2cc1e5b51470a442ff52645b4cfb +size 58858 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode372.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode372.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c372ed26c0eea3bb78622e2a368b3854ea4d7c2e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode372.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0303eab4a6d4057a9eee3fca4873ec8451d9c4b39cbb4f6a7144e4a35f92ccea +size 152897 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode373.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode373.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..787258c3fac1fde5e2ab31b818f6e911f9a3d729 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode373.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa7792e4a20e05d1fa9a578e36129fa63f356446cb0b217acad3ea672d06bd23 +size 101018 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode374.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode374.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..701c4d46074db0ef450829efd1c498c732c18b94 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode374.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4157f3ba08128750c1f66dbd3af2e584f16355e0e264b455646c8b3c60993e6f +size 116601 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode375.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode375.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..978bfbf864c1557bcd99648c1e72acac8ea96857 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode375.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b1060382df34bf3b81f116530d250662f720f72e6759be745d32ce2e55f7762 +size 261450 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode376.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode376.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a69b63bd3775717bd3180463ba7cb49877406b7f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode376.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74479ace52ac457b84b99a8763e22e87495b3e5b2016b37e75f39246bc3df294 +size 118280 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode377.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode377.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9d0498f6df14d88dee6238e87a45c02e90e3a959 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode377.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12ec73bc7244d51ea8c10568ce7db5e0b681ff0da0493760788b9942ac3d31c7 +size 250154 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode378.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode378.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a778e017b7e4d83148201db6001f87f5f5667aae --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode378.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18e74f0f34948357cd9283982347599f655dfdcaa32065a0a1bb596f86ec2e33 +size 57411 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode379.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode379.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1bb2613df0e631715595deb0452cb0e4ff9c8431 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode379.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6722f6e4c042b631c70137e54a258c6fba2ad698a5f71d112c64994b193f7dc6 +size 119275 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode38.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode38.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f91559184dd3798e43b7ee15baba31d46bba65ee --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode38.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9ea2b8118cdaa5bb2a3a1d437a6e433d9c3c93d1fdbd77cbc99219a98ce7347 +size 48740 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode380.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode380.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ac563a53a98b9ad88cb8dc5faa032d400bada253 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode380.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:647a8e71397d3756e305cef28e3b0ce8cb01f507c1a0a88c27ccb4ae5d195393 +size 142592 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode381.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode381.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..26e083311d9db6daea1cc16e09cdca4d1a8e2cd9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode381.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cc6d6950e6825a39ea08ff99b760966e059d4ba5dcbaab614fea66273e270ac +size 88073 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode382.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode382.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..453a4b473f9d5c14d6976dd1e389623c707f4cce --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode382.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06c84e3e01f51769b4a2f33b20f7ed742b41d1770edce33a9f82a353960a5527 +size 154456 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode383.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode383.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e1bbf14d9486e17f59adb7de0ba28ceb00f43960 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode383.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63903ab3a4d7191e653bbf7d3739710173d69dcc800005631994ec2d4f6fd95b +size 87252 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode384.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode384.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0b06a14d3f323093886557f095bcf04432c36051 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode384.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db18c4c3f731ee332dd26687ad9768bb493b26ecd23fd0cb8955a3d1818e4658 +size 98205 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode385.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode385.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..231db3093d5779c2b7d372f5d92fedfe53f27dcb --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode385.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0744d1e94e321255d070b58e2475f06e371dbe8cb943a5a257b08939a7240e74 +size 89915 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode386.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode386.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae055a729b1fda31c075a1760e691f30da3fcdae --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode386.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e6f66ae1e86a8259d342226519b31766d4de6b125d6f9e2b830c3876894cd40 +size 139962 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode387.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode387.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..647e036fd648b4cd7c0a2958ee723cef0bd45361 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode387.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bb4f353896575fa76a716fcd5f348d6f3c7c6f03e742effcac9042551e15f10 +size 115391 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode388.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode388.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b44ba766749bb9cf504b2d8502c2f591448d0461 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode388.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8710b5f282572658242711371391fe2322571b7bcb58152580cebf1934c782a5 +size 166104 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode389.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode389.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..abaf3f2e61edd36d9dd608d811c0a848d36831dd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode389.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:490c2175438ae49872fbf73d0db23dc2f14e048403ae31e75203813fda2d59d5 +size 97272 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode39.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode39.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a2140262ad2e7e1a1c6ea17654c57bfded6c77b6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode39.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b7822e0d0cc42b027dcc98be1b04880038d4418f51b39f67f2a7edc554d5ea0 +size 94079 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode390.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode390.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e75c20077d1eaf0e7d9c8c9b9b349ad1c3ca43b4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode390.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30f91b5a1912f8f818a221dbee44bb7c021693e7fbcbef9b28e023e985b9d628 +size 154529 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode391.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode391.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..854d594d2d435ab721029214e74078779f68782e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode391.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8f56c74ee7d1a4626cdc7ea9f39bd1830bced43e475458f2f281e6e5c651e4b +size 118237 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode392.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode392.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b0f3f0aebedb7d06eade22efefad034fc7a719ad --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode392.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b92083f3ec24bd29ef3454fc6934d11724c6e91da53f310a99e66dc8137302fb +size 80847 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode393.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode393.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f4033b0040b99704fc0b100270f5ae78d4dea03b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode393.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3959bc30ac60055d56afd0d194046678148987ca2ac6e4712701ebde3d449c2c +size 115971 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode394.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode394.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b73f0778013df78bc491b26092afd35226350e8b --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode394.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76042c1481c6612de604289e000b97de227371377c8800d5d64e7f83daca469b +size 85989 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode395.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode395.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e17b1c1cb875dbbcae2acda43dd1640548da79a9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode395.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18e89efa50ce5d58e41aecd8723a658d2331bc56d426327c4b8be7f4ed20bd0b +size 102743 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode396.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode396.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1f52d2b63bad50c393d165824f3940afb1f343bf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode396.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90833740e5f27dc1f7bca3ce89e15ddffd1da95b6fde5564888edcc783621ad6 +size 81741 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode397.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode397.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fe833dec6b8fb31b2c50cd8903097f2947fdc839 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode397.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f45d86e9aeb5d517b59f983f3467b15424b2bf506b93bc1da21d3f4e447d2c95 +size 146838 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode398.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode398.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4b0fc939aa657871d43e91d4abe6049aa371efa2 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode398.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f31d5a8d70a69624b725d7735c50e7f4a4e81d66af3b06345e2a89b01da329a8 +size 156725 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode399.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode399.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3536c3db1b36a92a3f761e71d54e1e19589aef52 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode399.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9c9b29127ce48d6e69400a8bb7eb87457237929de0de7b91120f8a80d26ab11 +size 261315 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode4.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode4.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..01c0e8cb0e9215448add1e6d24675ff3538b9e09 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode4.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4979ade47c4b0f008cdbf400e0caa0e4500ddba709e3c5cbe1b51dbf72010856 +size 44337 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode40.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode40.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4bddd73445343ff59538d6f6767eef54d2f087d9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode40.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de3b365e0673162eb18d22aeff78646145b4e487c9980d4dca17b108a5d8fd52 +size 93467 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode400.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode400.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e29d269c82646ef377af088324a64ea401df3270 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode400.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8337a352a786b8bd0d2ac4eb4e286d7ea9d9e508e66ebd337120348b81c9678 +size 393559 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode401.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode401.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1d25de88d36cc5e941d85e57f3b9025da21eff93 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode401.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96138a39810746ae044cc7e085ef7685c244131f79d474282abf46c933b2c80c +size 298345 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode402.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode402.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3108a8318fef5aafa52a25bfcd659bc01fe21340 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode402.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71beeb158384a21e7141f6a8d5e83969af4e3bb82836ca20871da7ae569ed602 +size 406106 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode403.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode403.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5e195e441c00f467b0286908103990e0abdf2320 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode403.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b10ea91613687c3005908f17a89aa518985f9709beb533b256175ed0f5b20c2 +size 227736 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode404.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode404.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..244df4ae5906081da808ddb2db0e10dd9e94383f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode404.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9f078e1e54452c2854c9279aa8a742a2ad25db5d739d64b157e871d08580471 +size 162449 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode405.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode405.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..913c6ddac435b05e77524f4c3caa4de91e272820 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode405.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:207df82e2905c9e3c31aa5be541e57592fad9b9026638d9111bec8895522b8d2 +size 99637 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode406.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode406.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..13d51ea6681b4c133e85554c785fe55819008e5c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode406.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61d74d3bf172585ad0baf72d5596451010b1dbff41df02e1b76d5eefb864ba33 +size 65255 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode407.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode407.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c840907288f739bdf978a4c0ea21b7e27dd36140 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode407.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e0b2a0ca3064e38e855447472a11b0446d587480bdd12a563d761505d31607b +size 150464 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode408.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode408.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7c4179bb81fe6f1ecafa17a5a40026c7b68a45d9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode408.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79e7315c0e8cf6a11fbaf0afd9e42b012ca544fb2658104c057b021feccead05 +size 169523 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode409.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode409.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..db1cba60c8dacac36bf950d17badbf7c69a33042 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode409.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:316833d8a6140774b062ae50b6beef10baa3ec043bf8f31b5374d8771239eae6 +size 196815 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode41.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode41.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..71badcb4c96cb4f4f26666eca598b26fb204ce4d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode41.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f51d7fa3c2ed57a447426aacef3921921cad99d1b4fd54732cda19c869ca2435 +size 133852 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode410.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode410.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5e750bdb742295c4af07354bb84bc34b63a92381 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode410.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:049b9a9decef89b293bc6f0cd35de202d1349f2f71f6c0fe5af07116a193bfdc +size 128754 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode411.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode411.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..893e9d488360ea8b023a41ae0a9628b195a017a1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode411.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b944581e2b9abbd6841b90a833db48b83df337347a48ddae1f2b7834aae9c37e +size 101619 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode412.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode412.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cb86b73bf90e8e8a9e9ae1903285b398ecd950e4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode412.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9f318e55e702c0b3840b83b705cbcc695e3ecc3233c986fadd4145e0ec0d061 +size 113523 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode413.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode413.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ac7fbd5eb64e77be6c385eeb0bb5392c40579d07 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode413.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fab2df1dd84b36f868d9ad31a45da3f63e46e1b4df00ddb26638bb223a770963 +size 289149 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode414.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode414.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3f544d3fd1c0067461ec11a14326fd7705ae1bf4 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode414.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:891d8736c6e80bec21b7d2cc987c89f4a8cd8669c2a61696fc442bc6b721159c +size 68632 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode415.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode415.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..106c2ff77a39536ebcc9ca48bfaa77224bbd252e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode415.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef67cec9d2a884c1cae87b749ec2d16270f75fda16a267732df734ad2b7ffb0f +size 52945 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode416.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode416.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f2c7e9614b5d8275cca54b47c72a3bc2e57f03c9 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode416.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fcec1300ae723c3ca272c30d3a6118f683dd12583a1bed990029fff214cc55a +size 198847 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode417.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode417.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e61c3676083d282a8e13495afeee64a53e173250 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode417.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce5bc0404ec17760ce9c1ef0994ed0286b79ccc70216348d32d32c5dbae47fa1 +size 175804 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode418.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode418.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2a3a23c268e5c9ff4e3b5ed8a486070f1b672145 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode418.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81b771c2754fc140f55c310212a7e86c07b74a4c08536284429565a787ecf8ec +size 306114 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode419.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode419.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2b788632f846ac37450d8379c16236e7c22258ab --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode419.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:457608b7531af3f06440bcd00d23f098551ec105d2a2a6f47e564c5f22797f64 +size 172304 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode42.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode42.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..471aedcee7bb7329d55668672828e49975142157 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode42.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fea9ec9cbbb7634f023912dd9c91f5e1802f9fe31c165ca384e9d7293307838 +size 147419 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode420.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode420.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1d9c4207b7133082b338409a59ad2da7b2b401b6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode420.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a15fb2f118aae34fbe0b1c2cccd499f19fb59315d176e2b7383660337afe94f1 +size 122452 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode421.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode421.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5bef34589fe35c7a122190d0e050f070444f8abd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode421.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a869a6b35c81323807131e89eaeeb444f4367f038f0a22f23925a4de70a16219 +size 44889 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode422.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode422.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dfedf953a2b6a80869d97d85080aa093bb6e11bf --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode422.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36a9c000fc7fa6e9ed210e8c8650b6ebb68b95a1162bbfe96e9681a5bf0cfc73 +size 166192 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode423.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode423.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..20ff4afc23d26eaead0454dfb852b59cd2fd3358 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode423.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d65bf7b7fc6e84e272070f08244f3ea1a4fbcdd8998f8213d88c3ee91c44536 +size 190546 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode424.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode424.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c57791e7b55afb683438be73649ff8320227b731 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode424.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca09e70f90d90d8bffa06b294a7e1556fc8a468073eccd0a9f29221328dd6abe +size 61043 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode425.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode425.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..efb6af0f81b60b3f7923a76047cedf6f9e9bffee --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode425.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f748f7607efae5c7af13e036077b13572c2d33e424d362213d46518728bcb340 +size 131548 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode426.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode426.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f10cd6419a7804b1b1fd57d285e44a751c4a9b0e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode426.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5698e818e32dda2e18515c1e7bd54cb537be8085589796f669a9a2746d137ad +size 172926 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode427.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode427.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7e2c81b5c0f09c814ed66ddcacd79f6278419022 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode427.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71edd26ff74351522c43e27ff822c4fbc05b242f946379bccf8ab48fa55fc10f +size 475667 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode428.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode428.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9a48dbc7ae4c7bb25dd5bb5993e4ce29e62d474c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode428.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b500703c34e4290f95133d9c842625c79cbeb9c7ab25557b4ebfcdf3b9edab9 +size 74610 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode429.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode429.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a485742050c7578babcac466bdebce48a6cf6fa0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode429.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe5d54ff596f45b15b8890ccec361e6bd6267aff698d2d0a2a465d6d1cfb0233 +size 318248 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode43.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode43.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4b2f067cbdc9266fdd3d6fb48c422ed670c9ba42 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode43.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc6c93041a98dab34cfcf54df18f84a3b66390ef1c4df2e429986e11c650be0a +size 73494 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode430.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode430.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..53dac6502b43841223cea6a4310e3ced42e9da46 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode430.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89d9ed7852261600d1c15e14775a1a6f3967fa8daabe81520f510f587996e414 +size 141971 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode431.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode431.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ffe02af38152ac60c637917279e601e09568abd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode431.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d5a9194a04c495d03a685d9cfd052beb9abec7bc3ee381286878eb512b24ec1 +size 86399 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode432.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode432.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bfdf0ae7f16df52ced5a1121cd0ae3725b6ca3f6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode432.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0173d4848a669e6c7cd1cf0e3e253df3cf5f57f9b40e4863e054d8ec7f49bb19 +size 458418 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode433.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode433.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a47474ef02362edfb4bf87c511cb3c7b2cfde13c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode433.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53a4c721ce59f9d39327dc97b8141549e26645ffacf75ca59de32ff3a538c7e7 +size 212461 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode434.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode434.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..81a83715283ca05a6181c0b153ab1982a68941b3 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode434.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c69d855f555e65531dbd9846e75b28659bab46c5dbbc065a627776b45015295 +size 105897 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode435.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode435.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e52e806daf8aa7bc514d83fcfba1a81d53c9d76f --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode435.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e183a94dfd271cf23a8e585f58590fc2c42f2862e448e183fbd0afe6218fcce +size 288420 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode436.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode436.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bb11389d70c37cb59f7be1810804d75260e9f1ec --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode436.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15213df0106b40590bfa2b194d6fe404ae09a30268e820671e7fef1b0cdbb951 +size 903548 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode437.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode437.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..088aeba36f91682bdfb767306e3e213f6b3a1016 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode437.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31ffcf53301cc02c128134f0c3b8a43056528a857d8b8bded193762b7381c7dc +size 124443 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode438.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode438.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..60672f2457da1db1e72e054981ec79fe026b1cb0 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode438.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afb766007201df38fb6b99bdb20027d3435d1223761d007a2a3ad0853e37e728 +size 143226 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode439.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode439.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c2d582b5ccfd359d20f3c1b105307335ab8ddf5d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode439.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baca3749402fb3e10e700f5ca259cec85288f387f48829ce0ef1698513260730 +size 118656 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode44.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode44.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ccd74dd174772f2f394a4b7ea5e7f2b846250c06 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode44.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4493d0909769be8ea7e1e2ee17201071cf4b038e328eabd40347fe010ce05e4 +size 140932 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode440.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode440.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..96451ac9ced6b3dda8561564e92a055f5a3b6e6d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode440.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0619ddab82f6d84dabcb54ada85bb24f83e4843edc361b8b0b682e4e80305b86 +size 117645 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode441.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode441.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc85151889522bdacff173969f9db0970d486acc --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode441.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44d3f88edfb01d30b0b1a8350793e922a328d3871607f0ca9b68d4dc2d5c51f3 +size 165808 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode442.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode442.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b127452e37c677839a392f9eadb73476e5095b2a --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode442.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b16528fc299e6fab09ae5dafbaeac08024ad76b9115189d32243045c3ea022bd +size 95746 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode443.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode443.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dfb9e0b58fb5cfd1453277ca612b608f22549f64 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode443.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b488436ef4211801b95415fc90811dbe29d764c407b68e69b17161588600d2e +size 113045 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode444.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode444.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..09f9818d98545027530237f5b4adac52e8ac2876 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode444.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:706e640cc29b16be9d644c0cd6851ef77622908518c98fb519e49797fbd30cc4 +size 143451 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode445.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode445.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3ba35f3cd929bc22343712f7f2ffc7a3e2b725ef --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode445.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcc5c151555a865f503a7b7910a53f4e36f4a5283c3f14512ef37abe5729998d +size 143259 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode446.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode446.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c7a1064c3c41ea218e9799d0b6d112ada72156d7 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode446.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c431b371d9aed62baf77453a01f20c5b2f393b687c2266e7305a43e99a330a6c +size 211887 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode447.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode447.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..56f485b39860e5713661ec59db77677330dcaaa1 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode447.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cdf521302475ace6a825d271a2ffdcee88122822ab01b5a35d20cf691008f90 +size 90995 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode448.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode448.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..de66ac384ad43e19f1240aa70a8f9277c839c6f5 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode448.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adf1c62d080911115eb9616e001e98f83e32994996ed32d4d68c9775dfd244e0 +size 236486 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode449.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode449.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c0880dd087551360e49a38ab64b6085c89bd9d69 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode449.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20fe98906ebd5e0f56509f128656c810c4900d38cd5ad0100bfa966cc39d1aa6 +size 138868 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode45.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode45.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..72a8a76aff4e84cb96fe5d4d18d01a59e10bc69d --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode45.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbd356631be822248ae8558271146c352624c7a7e14b3f6befd08e358a3ad4f6 +size 316265 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode450.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode450.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8bcc2361c2f1cbbfa4493a3b536c54f59fec2f54 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode450.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1de71b6bd8a1753fed8b34b66f06e510ad74497965644cd717cf3b9f06d44470 +size 124792 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode451.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode451.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5ad63efa7f29b629ecdcbcc6ea7f0b560f85411c --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode451.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e05dccf140e69adcb42fde20a6646af0120063cf17faa534b19b9ff4ebff481d +size 362835 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode452.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode452.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d7b3815af93d2be24e3155963c2cd19fd3079fbd --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode452.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55195bf9c74868682bdea1e4f25eb80042da25b6aab914f5d83edda4c346137a +size 108135 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode453.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode453.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7e80f0d3c54f65ebe6040ab9b0b49bf4bbe41fa6 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode453.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a434f01c003b01f530ff0172ae2845c39e0b72f5b5eb3a43ec52d2c854dd8e6 +size 115059 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode454.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode454.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2ab474bb04354d172fbc7b0223ad61947b46df4e --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode454.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a546a67df132c3142bc0b60d6b1a8cf299e7e661cfc912ce8ac6d0bb4bd75585 +size 180897 diff --git a/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode455.mp4 b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode455.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc5b5ed16969c92dab8c134b632389fb9db3a564 --- /dev/null +++ b/train/unified/v3/AgiBotWorld-RichInteraction/task_5015/sim/top_head/episode455.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea5a4e6e1a6e3290f2aa4a285d49000168177c671c95256e64c73b5801104dd8 +size 79493