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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0004/sim/state.npy b/teleoperation/catch_and_place/0004/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b70698d19453a54a05b7a0ff50f5fe2f8e49d7bf --- /dev/null +++ b/teleoperation/catch_and_place/0004/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a225c5f1110c58ad356a4a652d9f1948c9b4d8f8438cc4d0b6d54696b8ee1f7a +size 43696 diff --git a/teleoperation/catch_and_place/0007/sim/state.json b/teleoperation/catch_and_place/0007/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..6fca10dde3f9d335886b570ae5b1c3155a20a9fb --- /dev/null +++ b/teleoperation/catch_and_place/0007/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0007", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 887, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0007", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006461423472501338, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0007/sim/state.npy b/teleoperation/catch_and_place/0007/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b1d7db00f9153c4732c58e5cea6ce7945278dbd9 --- /dev/null +++ b/teleoperation/catch_and_place/0007/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:303ae91b44d059e1d0382fc7a92c7d7f8df528772d41cee2f390c21190063999 +size 49800 diff --git a/teleoperation/catch_and_place/0012/sim/state.json b/teleoperation/catch_and_place/0012/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..cb585f63ed9937ef96a7ebffd81ab2cf82b3ac59 --- /dev/null +++ b/teleoperation/catch_and_place/0012/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0012", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 786, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0012", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004380056925583631, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0012/sim/state.npy b/teleoperation/catch_and_place/0012/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..1b0a1165ab235ad42851643aa4f2df241ae14923 --- /dev/null +++ b/teleoperation/catch_and_place/0012/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:336bf15b346a190d9aaa3c48dad19baa14a418df466828937e2b479874e90fd9 +size 44144 diff --git a/teleoperation/catch_and_place/0013/sim/state.json b/teleoperation/catch_and_place/0013/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..9751f8c831d2ad35066a29de1f447267faefb9ef --- /dev/null +++ b/teleoperation/catch_and_place/0013/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0013", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 904, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0013", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004713881353382021, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0013/sim/state.npy b/teleoperation/catch_and_place/0013/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..07409950ca9082a3fcff7fc7b9f41544b13e8101 --- /dev/null +++ b/teleoperation/catch_and_place/0013/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4832952ce2c868794bb51fc913a87cd4539c8469a88053d942f29d9dabc550a8 +size 50752 diff --git a/teleoperation/catch_and_place/0014/sim/state.json b/teleoperation/catch_and_place/0014/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..c9394c585ad8a1bd13e581b25ac8a6c52e64b9ba --- /dev/null +++ b/teleoperation/catch_and_place/0014/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0014", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 704, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0014", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00043819029815495014, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0014/sim/state.npy b/teleoperation/catch_and_place/0014/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..51e5805c48b0efbe19fa4fe2c682544d938d622f --- /dev/null +++ b/teleoperation/catch_and_place/0014/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9bc4f6f0acd5c702ac8ede0320251eca88ece3be6964ecdd3911b1fa5622561 +size 39552 diff --git a/teleoperation/catch_and_place/0015/sim/state.json b/teleoperation/catch_and_place/0015/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..4836a29c1c8f23ce9dd87a2946ae9a234b5e15b0 --- /dev/null +++ b/teleoperation/catch_and_place/0015/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0015", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 777, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0015", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004233084328006953, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0015/sim/state.npy b/teleoperation/catch_and_place/0015/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..70a24739c0918410bc3518d5bdc91b4343ee6e64 --- /dev/null +++ b/teleoperation/catch_and_place/0015/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9ba1af88644fd756597b9fff0678f1ce33634c7b5a964170d6f530452416ba1 +size 43640 diff --git a/teleoperation/catch_and_place/0017/sim/state.json b/teleoperation/catch_and_place/0017/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..a9929956e964396163761f9dcef52d84a44a1a48 --- /dev/null +++ b/teleoperation/catch_and_place/0017/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0017", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 823, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0017", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.000443997181719169, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0017/sim/state.npy b/teleoperation/catch_and_place/0017/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..e6eab96ddb925c7d767494f6dc95a5e430d34dfa --- /dev/null +++ b/teleoperation/catch_and_place/0017/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0261f703c2b1a9cddb51f3ab2a28c7fcfe4d649097659e5f574b3c193aac09b4 +size 46216 diff --git a/teleoperation/catch_and_place/0018/sim/state.json b/teleoperation/catch_and_place/0018/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..7d50e10ec073583255d2c2e3194f07aaa0c1ec22 --- /dev/null +++ b/teleoperation/catch_and_place/0018/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0018", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 713, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0018", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00044327357318252325, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0018/sim/state.npy b/teleoperation/catch_and_place/0018/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..2eeaa5d316c5f7b8850e5f8bfced8398d18e07e9 --- /dev/null +++ b/teleoperation/catch_and_place/0018/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6dd8b4c7ad004c62354bdc14042becdfa42c244585e5edc0efbe6a506dcbdf6 +size 40056 diff --git a/teleoperation/catch_and_place/0019/sim/state.json b/teleoperation/catch_and_place/0019/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..b6a37ddd3ec75d4faf4c3ded5062a19aa208a1b8 --- /dev/null +++ b/teleoperation/catch_and_place/0019/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0019", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 877, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0019", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005592392990365624, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0019/sim/state.npy b/teleoperation/catch_and_place/0019/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..197bba58ae8a7e3060e5bfc6aa5163080c944319 --- /dev/null +++ b/teleoperation/catch_and_place/0019/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:654e4359b789bd1bc5c50f636f6c94ed9a8605ecbba1a34199b3f4d74e9d1a7d +size 49240 diff --git a/teleoperation/catch_and_place/0020/sim/state.json b/teleoperation/catch_and_place/0020/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..8e61de48791f24bbdc3343cc60c544db2d4946eb --- /dev/null +++ b/teleoperation/catch_and_place/0020/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0020", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 703, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0020", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.016749024391174316, + "max_abs_arm_12d": 0.016749024391174316, + "rms_14d": 0.0007963908719830215, + "rms_arm_12d": 0.0006872095982544124 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0020/sim/state.npy b/teleoperation/catch_and_place/0020/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..8fa58ce50c6c384d6a071f673e81ad6b22f03c7f --- /dev/null +++ b/teleoperation/catch_and_place/0020/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f332312c2d0c9158337d6e3a9ef67b211c1849aa97fcb8fc46a9056d236113f +size 39496 diff --git a/teleoperation/catch_and_place/0021/sim/state.json b/teleoperation/catch_and_place/0021/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..f3df7ab86bc1e119b631a7977d2440c778f5311a --- /dev/null +++ b/teleoperation/catch_and_place/0021/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0021", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 650, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0021", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00045796993072144687, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0021/sim/state.npy b/teleoperation/catch_and_place/0021/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..4c31e161083878b00a4a5900ecb6cd60c28eca01 --- /dev/null +++ b/teleoperation/catch_and_place/0021/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e8d5337a5c1be8106d7d1d85b07293781ca61da097eb71b0d49f50dfb20b660 +size 36528 diff --git a/teleoperation/catch_and_place/0022/sim/state.json b/teleoperation/catch_and_place/0022/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..040f34c088d77844a4962ba1cf8e41267c4c502d --- /dev/null +++ b/teleoperation/catch_and_place/0022/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0022", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 660, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0022", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004401726764626801, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0022/sim/state.npy b/teleoperation/catch_and_place/0022/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..099aebb9e8d276daa0513144fa0b7eb30d7ca5f0 --- /dev/null +++ b/teleoperation/catch_and_place/0022/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9fb2cf7cd54f9f091ee3ba7d5b2cf97bfc2dc4cc14a97731f31b1b56c8ff9c6 +size 37088 diff --git a/teleoperation/catch_and_place/0023/sim/state.json b/teleoperation/catch_and_place/0023/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..f2094c30d89fc92e41ead81eeae476d1a8daaa19 --- /dev/null +++ b/teleoperation/catch_and_place/0023/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0023", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 609, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0023", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004126957501284778, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0023/sim/state.npy b/teleoperation/catch_and_place/0023/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..aab1240ea961be9daff6f4905790cbd32d153bd5 --- /dev/null +++ b/teleoperation/catch_and_place/0023/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e323553ebde70d9bd7b0dfd3ac06a3eb8df34ce7796ea1c69bd7cedbf872c50a +size 34232 diff --git a/teleoperation/catch_and_place/0024/sim/state.json b/teleoperation/catch_and_place/0024/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..6c969fd7afebaa5bcbd25cf89b73c25fa634576f --- /dev/null +++ b/teleoperation/catch_and_place/0024/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0024", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 679, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0024", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004445927625056356, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0024/sim/state.npy b/teleoperation/catch_and_place/0024/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..bb00e838e86f3bf3f17c73b916fc6984bf80d9be --- /dev/null +++ b/teleoperation/catch_and_place/0024/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:766751214e14ac9da6a26e7d73d7dabef54328afdb4a1f9eca7c645772e39fd7 +size 38152 diff --git a/teleoperation/catch_and_place/0025/sim/state.json b/teleoperation/catch_and_place/0025/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..0c3cbae6794febf0c4d022ce1e959fa0d4973a0f --- /dev/null +++ b/teleoperation/catch_and_place/0025/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0025", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 607, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0025", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004758966388180852, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0025/sim/state.npy b/teleoperation/catch_and_place/0025/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..8e67861d180d54bada3f4e0919a3c314e367c0b1 --- /dev/null +++ b/teleoperation/catch_and_place/0025/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6687d336a3428a9da218d06fe291705e302fb5eaa0b965ee983476884801542 +size 34120 diff --git a/teleoperation/catch_and_place/0026/sim/state.json b/teleoperation/catch_and_place/0026/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..a64e5bf372aba571f3522f72137b50bba93795b9 --- /dev/null +++ b/teleoperation/catch_and_place/0026/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0026", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 755, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0026", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00038699625292792916, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0026/sim/state.npy b/teleoperation/catch_and_place/0026/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f2d4eb922c74037ae15b71fdf45897ff4082d81a --- /dev/null +++ b/teleoperation/catch_and_place/0026/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fbda003ea22d6a65bb1d8460ce63af87c8488ad7f6cb714ef588def0db3c216 +size 42408 diff --git a/teleoperation/catch_and_place/0028/sim/state.json b/teleoperation/catch_and_place/0028/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..420681bd0aaa84ed61c2737c04d14723d79a7e3b --- /dev/null +++ b/teleoperation/catch_and_place/0028/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0028", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 642, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0028", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004829012614209205, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0028/sim/state.npy b/teleoperation/catch_and_place/0028/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..dadb776dd96d361642646128071ddd6f64ca2e0c --- /dev/null +++ b/teleoperation/catch_and_place/0028/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:835118fcfb1f1ffd413ce713ff6afc8c985bee1e7cd267051747db45b862611a +size 36080 diff --git a/teleoperation/catch_and_place/0030/sim/state.json b/teleoperation/catch_and_place/0030/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..c5f327baf2dd9f2529a1f534a9ae4e50dffa30a2 --- /dev/null +++ b/teleoperation/catch_and_place/0030/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0030", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 731, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0030", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005556964897550642, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0030/sim/state.npy b/teleoperation/catch_and_place/0030/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..174908ca6ac08e9dae8066763ca46d6d48548fcf --- /dev/null +++ b/teleoperation/catch_and_place/0030/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7e0a960b3de46b7aa8d803890f069100b21b148f5a931ded4359f673a75b866 +size 41064 diff --git a/teleoperation/catch_and_place/0031/sim/state.json b/teleoperation/catch_and_place/0031/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..25e8445d8e8643259462351f5518b0bcaacc4ba7 --- /dev/null +++ b/teleoperation/catch_and_place/0031/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0031", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 762, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0031", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004319061990827322, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0031/sim/state.npy b/teleoperation/catch_and_place/0031/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..552e8b5cf895b4b8829f71fc90c63607e133f5c2 --- /dev/null +++ b/teleoperation/catch_and_place/0031/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f942857a480aa43f39bdf0f955c74eb3720464fb05e1237b428f94b58165b93 +size 42800 diff --git a/teleoperation/catch_and_place/0032/sim/state.json b/teleoperation/catch_and_place/0032/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..e8987b03aa3b5d11e7b82c1abf1e1f329d8a0ea4 --- /dev/null +++ b/teleoperation/catch_and_place/0032/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0032", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 669, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0032", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00044191087363287807, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0032/sim/state.npy b/teleoperation/catch_and_place/0032/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..0a6edf909ace6d87ed7acf7bf6c514eb66154a84 --- /dev/null +++ b/teleoperation/catch_and_place/0032/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:421e6ff6da727d65ed54e7b42e8c05445dc3b8bbacb1ddffb786027f48574704 +size 37592 diff --git a/teleoperation/catch_and_place/0034/sim/state.json b/teleoperation/catch_and_place/0034/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..047d028929eceed0481556d7fe891af64622adec --- /dev/null +++ b/teleoperation/catch_and_place/0034/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0034", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 689, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0034", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00046503348858095706, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0034/sim/state.npy b/teleoperation/catch_and_place/0034/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..776e3a34d2b226f6bd671135f04bb2859daa8f02 --- /dev/null +++ b/teleoperation/catch_and_place/0034/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cfcc9486a06c690921319699339dc2f577cc98c70426f1d66bf790ef766e3be +size 38712 diff --git a/teleoperation/catch_and_place/0035/sim/state.json b/teleoperation/catch_and_place/0035/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..694545f03183ce0d064caf8fcac70b69046d6b1e --- /dev/null +++ b/teleoperation/catch_and_place/0035/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0035", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 578, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0035", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005288550164550543, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0035/sim/state.npy b/teleoperation/catch_and_place/0035/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..c1578960db567660827f2535838cd8366157141d --- /dev/null +++ b/teleoperation/catch_and_place/0035/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45cfc321fb5f16ad4ea2b7d9fbac8126542362b5f8320b9c528d5ad754e95b86 +size 32496 diff --git a/teleoperation/catch_and_place/0036/sim/state.json b/teleoperation/catch_and_place/0036/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..4f40ff1f6c2f272471bd40035554eaab25abfc56 --- /dev/null +++ b/teleoperation/catch_and_place/0036/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0036", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 699, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0036", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005543399602174759, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0036/sim/state.npy b/teleoperation/catch_and_place/0036/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f6483caabdce72f404ba6b04fa365aff2f9f0d8f --- /dev/null +++ b/teleoperation/catch_and_place/0036/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3a5a2b70b9dd9ecb57eebdbabff8b8d4064c5be378de5856e75bc95a5bfeb04 +size 39272 diff --git a/teleoperation/catch_and_place/0037/sim/state.json b/teleoperation/catch_and_place/0037/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..3c8d5b44d8d5f845e8905d985a01dbfc7ea0610f --- /dev/null +++ b/teleoperation/catch_and_place/0037/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0037", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 565, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0037", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005087731406092644, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0037/sim/state.npy b/teleoperation/catch_and_place/0037/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..3456079f2d89bc697bb777b1ff57138fca680b7f --- /dev/null +++ b/teleoperation/catch_and_place/0037/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60985c23e27ec78ebfa2e2860327dd7cf8d3fefcde6c07f4e9aa6a9ce38e9a9a +size 31768 diff --git a/teleoperation/catch_and_place/0038/sim/state.json b/teleoperation/catch_and_place/0038/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..d00eb7be9ecdf3ff109e58bb68e5cf7dee8ceb1e --- /dev/null +++ b/teleoperation/catch_and_place/0038/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0038", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 666, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0038", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004439270996954292, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0038/sim/state.npy b/teleoperation/catch_and_place/0038/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..14822a9a665b4698d45cddee4499c21473f3f648 --- /dev/null +++ b/teleoperation/catch_and_place/0038/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5822ea8cdc321fc39b55d1a33c45ed45df794584df497d8f6ad9e0cdb20ec94f +size 37424 diff --git a/teleoperation/catch_and_place/0039/sim/state.json b/teleoperation/catch_and_place/0039/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..5f25494aa205512e156b3762cf6678babc6fac52 --- /dev/null +++ b/teleoperation/catch_and_place/0039/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0039", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 636, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0039", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004500322975218296, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0039/sim/state.npy b/teleoperation/catch_and_place/0039/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..021cea87f5e0df5b43b9d3e356fb0a69edeeb2bc --- /dev/null +++ b/teleoperation/catch_and_place/0039/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eb64db806c97c8032c3249a3265e08d9187057b56f81fc90251a338038cc8d9 +size 35744 diff --git a/teleoperation/catch_and_place/0040/sim/state.json b/teleoperation/catch_and_place/0040/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..27e5e6770a62ab122265b1918487a35f7c9f6477 --- /dev/null +++ b/teleoperation/catch_and_place/0040/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0040", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 647, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0040", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005450050230138004, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0040/sim/state.npy b/teleoperation/catch_and_place/0040/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..1eff7b7b5edc26a00d3f8206615d66f4e99bb403 --- /dev/null +++ b/teleoperation/catch_and_place/0040/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461841e58d4ec0c2222d3300744985a48034f1235f228ae5541b486a1ac60079 +size 36360 diff --git a/teleoperation/catch_and_place/0041/sim/state.json b/teleoperation/catch_and_place/0041/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1fdd905afdcee0a32745fd35c2753b7c58ef72a4 --- /dev/null +++ b/teleoperation/catch_and_place/0041/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0041", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 543, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0041", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0005748281255364418, + "rms_14d": 0.0004634704382624477, + "rms_arm_12d": 7.420157089654822e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0041/sim/state.npy b/teleoperation/catch_and_place/0041/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..32df9c05a0773b3ddf39e3c700680e468d46830a --- /dev/null +++ b/teleoperation/catch_and_place/0041/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:717460ca3d79ea73a9ae6f0fdeef1c5ca2bf8325f2dc5a0aa45087910abb2fa3 +size 30536 diff --git a/teleoperation/catch_and_place/0042/sim/state.json b/teleoperation/catch_and_place/0042/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..c24af341c98890e644ebb2a52f0b2fe52dffaa97 --- /dev/null +++ b/teleoperation/catch_and_place/0042/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0042", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 582, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0042", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00044658759725280106, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0042/sim/state.npy b/teleoperation/catch_and_place/0042/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..218876c2cc84510dc4388acd134aa0b6a2741a5e --- /dev/null +++ b/teleoperation/catch_and_place/0042/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd961116082c01642e74e059c61a5a24667bc9fa97e785f0c2d3026107984132 +size 32720 diff --git a/teleoperation/catch_and_place/0043/sim/state.json b/teleoperation/catch_and_place/0043/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..9807eb68c3f673a9e0013ed666cf267c6d385e5d --- /dev/null +++ b/teleoperation/catch_and_place/0043/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0043", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 636, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0043", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004797516157850623, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0043/sim/state.npy b/teleoperation/catch_and_place/0043/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..2d3cd6fae5386d039f685a3665ec39ae04d693fa --- /dev/null +++ b/teleoperation/catch_and_place/0043/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:780e9b72a1c52ad54602eaa8bcda9645359825ce827bb139b42825988efb9f12 +size 35744 diff --git a/teleoperation/catch_and_place/0044/sim/state.json b/teleoperation/catch_and_place/0044/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..e62919a5a1326d5018e50ac63c0020e033ea0056 --- /dev/null +++ b/teleoperation/catch_and_place/0044/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0044", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 555, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0044", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004839416069444269, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0044/sim/state.npy b/teleoperation/catch_and_place/0044/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..4193f2627d823d48a74c60f9acb0bce21ebe88e6 --- /dev/null +++ b/teleoperation/catch_and_place/0044/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ea2a02cc4415890a7d9cc6162078aa26430221c8ee9da63c59405094bf98e0d +size 31208 diff --git a/teleoperation/catch_and_place/0045/sim/state.json b/teleoperation/catch_and_place/0045/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..97d3c0bf78dbc82dc47ece76a8e52721f2f44dab --- /dev/null +++ b/teleoperation/catch_and_place/0045/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0045", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 577, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0045", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004362568724900484, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0045/sim/state.npy b/teleoperation/catch_and_place/0045/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f3bc3c30b16cc4530798711d1b470526fbdfd6e4 --- /dev/null +++ b/teleoperation/catch_and_place/0045/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93b9b24aea593b56858d7b11685e5bbd257d898e889bf275603e9ec858bb2d07 +size 32440 diff --git a/teleoperation/catch_and_place/0046/sim/state.json b/teleoperation/catch_and_place/0046/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..13e11503c811110981d1f3155f0a00bb9d8ba77a --- /dev/null +++ b/teleoperation/catch_and_place/0046/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0046", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 555, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0046", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004506691766437143, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0046/sim/state.npy b/teleoperation/catch_and_place/0046/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..98a782ed678453a1f3c0d7932c9c90de62bb1a83 --- /dev/null +++ b/teleoperation/catch_and_place/0046/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b79a6c36df445b4107a5dc4a8e697dd0f474481b166ec50319b44bcab33d3137 +size 31208 diff --git a/teleoperation/catch_and_place/0047/sim/state.json b/teleoperation/catch_and_place/0047/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..4bbec1ecf0f912690037d186d8c62f996778ef78 --- /dev/null +++ b/teleoperation/catch_and_place/0047/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0047", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 553, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0047", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.001346893492154777, + "rms_14d": 0.00045617236173711717, + "rms_arm_12d": 1.6679439795552753e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0047/sim/state.npy b/teleoperation/catch_and_place/0047/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f0a3628242f778822b077c611030b8ba5c67f1c2 --- /dev/null +++ b/teleoperation/catch_and_place/0047/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83fdcebcdf70e70bdfe0a785e4081b8d5d1a1599e9e60d00d3bd6104d0d49d1e +size 31096 diff --git a/teleoperation/catch_and_place/0048/sim/state.json b/teleoperation/catch_and_place/0048/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..fbba611bc941d0f256961d6bc92dbad45a167322 --- /dev/null +++ b/teleoperation/catch_and_place/0048/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0048", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 566, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0048", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004070164868608117, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0048/sim/state.npy b/teleoperation/catch_and_place/0048/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..558d1d8b80db73c436b105eeca4de80bba31dff2 --- /dev/null +++ b/teleoperation/catch_and_place/0048/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22c7788641aec70a4fc8eb1174dfb72407da5192b7fce3a579ddbc4126396fdb +size 31824 diff --git a/teleoperation/catch_and_place/0049/sim/state.json b/teleoperation/catch_and_place/0049/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..639870f54a00c0aa9072cd3c5562e450caddeda1 --- /dev/null +++ b/teleoperation/catch_and_place/0049/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0049", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 629, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0049", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00047647758037783206, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0049/sim/state.npy b/teleoperation/catch_and_place/0049/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..050cfcf2bbd214559e575663ca0575c45e89e383 --- /dev/null +++ b/teleoperation/catch_and_place/0049/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54805d753c76c22fc0443659a1d4e8e90e151b27ebf26d979cf397d2c7670226 +size 35352 diff --git a/teleoperation/catch_and_place/0050/sim/state.json b/teleoperation/catch_and_place/0050/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..765b6968b89029431039325510ae0d231eaacbe4 --- /dev/null +++ b/teleoperation/catch_and_place/0050/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0050", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 548, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0050", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004766623897012323, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0050/sim/state.npy b/teleoperation/catch_and_place/0050/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..10dc2c049acc0d905d8d64cc1b887acc875a9145 --- /dev/null +++ b/teleoperation/catch_and_place/0050/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76df29062955e092dacb578af367e7fc76f13e331467b006d0cc5a6627efa7f7 +size 30816 diff --git a/teleoperation/catch_and_place/0052/sim/state.json b/teleoperation/catch_and_place/0052/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..b7070a7ae37aed87c9de67a0f3cbda780a256d85 --- /dev/null +++ b/teleoperation/catch_and_place/0052/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0052", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 624, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0052", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005920029361732304, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0052/sim/state.npy b/teleoperation/catch_and_place/0052/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..badf1953b048124e76d3853f564224fa8783e301 --- /dev/null +++ b/teleoperation/catch_and_place/0052/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06fe2fa00b83ce20b0e0142e55f302f4dfe7ea9f2637668f4104664b8b2d8359 +size 35072 diff --git a/teleoperation/catch_and_place/0053/sim/state.json b/teleoperation/catch_and_place/0053/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..9bbe077a6e8e0c55638916b70914a56820eb7a9b --- /dev/null +++ b/teleoperation/catch_and_place/0053/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0053", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 588, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0053", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004325169138610363, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0055/sim/state.npy b/teleoperation/catch_and_place/0055/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..3cbb090a7049dc9d2784e95917ec2747aeb6ef43 --- /dev/null +++ b/teleoperation/catch_and_place/0055/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3652ffee23f058d94763674798637cc824e80b3d18408c71d33dece5a3775b71 +size 27624 diff --git a/teleoperation/catch_and_place/0056/sim/state.json b/teleoperation/catch_and_place/0056/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1aed87c221e6ce095536a9a9e0fb0415c6401d00 --- /dev/null +++ b/teleoperation/catch_and_place/0056/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0056", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 588, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0056", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004508562560658902, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0056/sim/state.npy b/teleoperation/catch_and_place/0056/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b42e7d1331f1cbfba3aa6dcee13d0b7712ee757f --- /dev/null +++ b/teleoperation/catch_and_place/0056/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a88ed06b72b75c39e2950950a35c9dbaecec62bdbce78f7f226ce7f45ec3304a +size 33056 diff --git a/teleoperation/catch_and_place/0057/sim/state.json b/teleoperation/catch_and_place/0057/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..7bba60f3de9d53823bdee348a201933b61ad13d7 --- /dev/null +++ b/teleoperation/catch_and_place/0057/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0057", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 547, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0057", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004381404723972082, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0057/sim/state.npy b/teleoperation/catch_and_place/0057/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..5cf670c5f8ed5f3f55f0f68858c47334ed9fbbd6 --- /dev/null +++ b/teleoperation/catch_and_place/0057/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f55e4607c7e0808fca2ecf3446937e12f89a3963bff0d849ae9574098d30dd0 +size 30760 diff --git a/teleoperation/catch_and_place/0058/sim/state.json b/teleoperation/catch_and_place/0058/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..2b96ad260b58f1e0c11e085da507c794ac81249b --- /dev/null +++ b/teleoperation/catch_and_place/0058/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0058", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 567, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0058", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00045618554577231407, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0058/sim/state.npy b/teleoperation/catch_and_place/0058/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..37d303aceaa9fe731ed7928dd7fec379f65b91c3 --- /dev/null +++ b/teleoperation/catch_and_place/0058/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:488bd1d58cc0775b6f038dd30ff7d60c1e2480cc45ad77b3b50a6bce1a719e1b +size 31880 diff --git a/teleoperation/catch_and_place/0059/sim/state.json b/teleoperation/catch_and_place/0059/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..8b9a6c382edbe2d1f97f898ad410614b15ec7ca1 --- /dev/null +++ b/teleoperation/catch_and_place/0059/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0059", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 509, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0059", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0021567270159721375, + "max_abs_arm_12d": 0.0021100370213389397, + "rms_14d": 0.0005703059723600745, + "rms_arm_12d": 2.72688630502671e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0059/sim/state.npy b/teleoperation/catch_and_place/0059/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..e8954f91968558f619d6cf72bccd974c9fc1f9f1 --- /dev/null +++ b/teleoperation/catch_and_place/0059/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ddfa55e982fee2515eb949992c135f80c8c1f6e9defded6699c2deab6774c95 +size 28632 diff --git a/teleoperation/catch_and_place/0060/sim/state.json b/teleoperation/catch_and_place/0060/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..2ce1b7c507dac72d0c72dead349eb897352e086c --- /dev/null +++ b/teleoperation/catch_and_place/0060/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0060", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 573, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0060", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004357219149824232, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0060/sim/state.npy b/teleoperation/catch_and_place/0060/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..bd4693d45f2d5b656584b5bc7f7148fd8a8e87f2 --- /dev/null +++ b/teleoperation/catch_and_place/0060/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50f0f66ff54a22dcaee712170c28d09f03762a25aa351ab0f2b45597949b85af +size 32216 diff --git a/teleoperation/catch_and_place/0061/sim/state.json b/teleoperation/catch_and_place/0061/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..d7974dd7c4cbd899d7683349fa29e94942554195 --- /dev/null +++ b/teleoperation/catch_and_place/0061/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0061", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 600, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0061", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004515058535616845, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0061/sim/state.npy b/teleoperation/catch_and_place/0061/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d94961fa3b38b924be967bfcce374ff875889b11 --- /dev/null +++ b/teleoperation/catch_and_place/0061/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bf48a9bef2ccd25ef039ca548febe8660d62ba089ce76de45e1fea6ae117e57 +size 33728 diff --git a/teleoperation/catch_and_place/0062/sim/state.json b/teleoperation/catch_and_place/0062/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..25ca831bf66d93537a380940922b153b94d1352d --- /dev/null +++ b/teleoperation/catch_and_place/0062/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0062", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 570, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0062", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005202410975471139, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0062/sim/state.npy b/teleoperation/catch_and_place/0062/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..316980b4db9afd4d90105883f48546977b33afc3 --- /dev/null +++ b/teleoperation/catch_and_place/0062/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e74a98911a0a8e48d2728ac5e12d57fc96957e755d18667c728e48d1e4325f8 +size 32048 diff --git a/teleoperation/catch_and_place/0063/sim/state.json b/teleoperation/catch_and_place/0063/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..aa122eee38624fa31ac575a57ce61af3bd60349c --- /dev/null +++ b/teleoperation/catch_and_place/0063/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0063", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 543, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0063", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0009585830266587436, + "rms_14d": 0.000383533479180187, + "rms_arm_12d": 1.228412384080002e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0063/sim/state.npy b/teleoperation/catch_and_place/0063/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..a376c4439c638125611ee86ffcf242ef21863d5e --- /dev/null +++ b/teleoperation/catch_and_place/0063/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aab35d4165f987e329186140570f1c081733fe09bdaf191131671733d2f8c929 +size 30536 diff --git a/teleoperation/catch_and_place/0064/sim/state.json b/teleoperation/catch_and_place/0064/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..783aa5e3a79eb38c384d23a4ccb9a327ed0c196d --- /dev/null +++ b/teleoperation/catch_and_place/0064/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0064", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 522, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0064", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00039073379593901336, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place/0065/sim/state.npy b/teleoperation/catch_and_place/0065/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..8c417b916c3b53df40f58c3cb2a35b8bea0b3bbd --- /dev/null +++ b/teleoperation/catch_and_place/0065/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b35151a400b8508c8d841e669ed3f88b77fee1303af80e2b07020b2386d863e +size 30872 diff --git a/teleoperation/catch_and_place_plate/0001/sim/state.json b/teleoperation/catch_and_place_plate/0001/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..e480c2f6734c23e5402c30af4142a10f42dd419b --- /dev/null +++ b/teleoperation/catch_and_place_plate/0001/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0001", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 662, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0001", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0009543941705487669, + "rms_14d": 0.0005282794591039419, + "rms_arm_12d": 1.0878882676479407e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0001/sim/state.npy b/teleoperation/catch_and_place_plate/0001/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..278042c4969d3691b386af35e8dc2dec070253de --- /dev/null +++ b/teleoperation/catch_and_place_plate/0001/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3c2031d607db0fdc8b434c9611166d3b2a1c1edb205baf9b25c758e486f7b1b +size 37200 diff --git a/teleoperation/catch_and_place_plate/0002/sim/state.json b/teleoperation/catch_and_place_plate/0002/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..dfe7d9dde30ee2681a092b31c1945572250aa86d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0002/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0002", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 581, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0002", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0005720665794797242, + "rms_14d": 0.00046886090422049165, + "rms_arm_12d": 7.011839898041217e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0002/sim/state.npy b/teleoperation/catch_and_place_plate/0002/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..85f33c68b153a12c3087834a00084ff179e3ad46 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0002/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a278238817e457ac24f8f890970bdf9dbbfe96fb2f36053b55d6bd3e3847edbf +size 32664 diff --git a/teleoperation/catch_and_place_plate/0003/sim/state.json b/teleoperation/catch_and_place_plate/0003/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..5729d986a1c10b60a6f7fe9bec586cc31cc22d3f --- /dev/null +++ b/teleoperation/catch_and_place_plate/0003/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0003", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 587, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0003", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00037327612517401576, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0003/sim/state.npy b/teleoperation/catch_and_place_plate/0003/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..a10a02801b49a40ad5a17b3ea00d1e84100ce59a --- /dev/null +++ b/teleoperation/catch_and_place_plate/0003/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f4f49ea307d7c2b19ef74286cbca74e02b678b6a22c71e59a7365d499bbd6ec +size 33000 diff --git a/teleoperation/catch_and_place_plate/0004/sim/state.json b/teleoperation/catch_and_place_plate/0004/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..c7409b7c0d2990c4d64d5caaa2f60c52b5e0fbe2 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0004/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0004", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 572, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0004", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.002101009013131261, + "max_abs_arm_12d": 0.002101009013131261, + "rms_14d": 0.0003960038593504578, + "rms_arm_12d": 2.5682191335363314e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0004/sim/state.npy b/teleoperation/catch_and_place_plate/0004/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..4466f1de58302de1902e861bed4bc24c6ddca2a6 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0004/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7be1e98d0dceb554395e309f8085fb72b814ec66533b7e6994cffe81929952f +size 32160 diff --git a/teleoperation/catch_and_place_plate/0005/sim/state.json b/teleoperation/catch_and_place_plate/0005/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..d14d3c01cae0d3593ad0a69e32b10a760de6e369 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0005/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0005", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 551, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0005", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0003874652611557394, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0005/sim/state.npy b/teleoperation/catch_and_place_plate/0005/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..3c7cb8ccfff3cf8d0f495ba7314ca16b8799a2f6 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0005/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c823a0aba081024d4b7ecff3b2919ea526fe012a7915064b8a7d8701909f8a8 +size 30984 diff --git a/teleoperation/catch_and_place_plate/0006/sim/state.json b/teleoperation/catch_and_place_plate/0006/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..b9c36eee33843c66b8ab658a70d9bd46afd4a212 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0006/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0006", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 524, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0006", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0003998257452622056, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0006/sim/state.npy b/teleoperation/catch_and_place_plate/0006/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f34d7ace662b4317da694330ce7f6064904a63af --- /dev/null +++ b/teleoperation/catch_and_place_plate/0006/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13d7e1d3bc639bc902e257e30bc175de18a86c7555987ac1d3fc8d0cff2b53a6 +size 29472 diff --git a/teleoperation/catch_and_place_plate/0007/sim/state.json b/teleoperation/catch_and_place_plate/0007/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..8508cce5afee3c6d159f9c97e7fba6e35a32f160 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0007/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0007", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 544, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0007", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0005732743884436786, + "rms_14d": 0.00038756418507546186, + "rms_arm_12d": 7.206746431620559e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0007/sim/state.npy b/teleoperation/catch_and_place_plate/0007/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..31310acaa6396504656683ec1007924d925dc19d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0007/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fc665a5182d129e3b1043fa0b4dba3ef03fc4e1ce773f85a2bf942f378e106d +size 30592 diff --git a/teleoperation/catch_and_place_plate/0008/sim/state.json b/teleoperation/catch_and_place_plate/0008/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..30ba6b8163f157be2e164dce63c089f1fe37761d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0008/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0008", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 579, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0008", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0003783544816542417, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0008/sim/state.npy b/teleoperation/catch_and_place_plate/0008/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b00aa72db8bdd08d3f1b3c82b4ce452a7879cc0d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0008/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efa7ba777ec291b71eb806d1d481cfc845b8972c5926a2d31f4b550145747341 +size 32552 diff --git a/teleoperation/catch_and_place_plate/0009/sim/state.json b/teleoperation/catch_and_place_plate/0009/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..5d77aff3770ef34b97febac3056595717567dbdd --- /dev/null +++ b/teleoperation/catch_and_place_plate/0009/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0009", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 558, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0009", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.003636320121586323, + "max_abs_arm_12d": 0.003636320121586323, + "rms_14d": 0.00040673153125680983, + "rms_arm_12d": 4.527628334471956e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0009/sim/state.npy b/teleoperation/catch_and_place_plate/0009/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..fd629f89ec588b5b2536798707763ae07471e023 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0009/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8997666d050ec69d10e49641684d2120a77617cfd658c3410483fa4f06d94360 +size 31376 diff --git a/teleoperation/catch_and_place_plate/0010/sim/state.json b/teleoperation/catch_and_place_plate/0010/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..18ac07c6030b4b8b71c4785f160f7a17f1413c55 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0010/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0010", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 605, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0010", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00041192432399839163, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0010/sim/state.npy b/teleoperation/catch_and_place_plate/0010/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b83436c444c30f08ad931b83db83c1182ba9047a --- /dev/null +++ b/teleoperation/catch_and_place_plate/0010/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:486301dab6fc7c8b70e1de2a7fdf1423e9ec854f09bf77f64b6bd8f7616575f5 +size 34008 diff --git a/teleoperation/catch_and_place_plate/0011/sim/state.json b/teleoperation/catch_and_place_plate/0011/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..9b088ed43d37dfeaac8eca3ec99f981847642067 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0011/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0011", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 598, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0011", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0013419092865660787, + "rms_14d": 0.00040506827645003796, + "rms_arm_12d": 1.59414757945342e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0011/sim/state.npy b/teleoperation/catch_and_place_plate/0011/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..2486a2a23c6116ce2b346e21e51d232de633a2c6 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0011/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb773bac240cbb8e6694fa7fec289ee235019f5cd697294984f630e9afe29f8e +size 33616 diff --git a/teleoperation/catch_and_place_plate/0012/sim/state.json b/teleoperation/catch_and_place_plate/0012/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..4ef3109b3313d4f2bf5becbed99633b4ad9e04d4 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0012/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0012", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 593, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0012", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00038899018545635045, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0012/sim/state.npy b/teleoperation/catch_and_place_plate/0012/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..1ee6d0c1431b621b1030fcb3f7a382b3cf7b5fd4 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0012/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9069700e1d0d3f4f685f3826ad3b79dabceaf8109caad62b2b197df99ff33a43 +size 33336 diff --git a/teleoperation/catch_and_place_plate/0013/sim/state.json b/teleoperation/catch_and_place_plate/0013/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..b55395c4e3f9bccd73c3c613a35a3fa06fcaf2ae --- /dev/null +++ b/teleoperation/catch_and_place_plate/0013/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0013", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 544, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0013", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0017256950959563255, + "rms_14d": 0.00040484272176399827, + "rms_arm_12d": 2.1491867300937884e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0013/sim/state.npy b/teleoperation/catch_and_place_plate/0013/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..a2615efcd1d3bc269404c12ba2afaf32037ca342 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0013/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4bf9af8d4087f8e255013bee03d0ca2910abec21b9fd2b92636c55794c635d5 +size 30592 diff --git a/teleoperation/catch_and_place_plate/0014/sim/state.json b/teleoperation/catch_and_place_plate/0014/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..d6e522046baebc0e1ecd6d3691c26ddb533e5907 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0014/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0014", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 505, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0014", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00039541878504678607, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0014/sim/state.npy b/teleoperation/catch_and_place_plate/0014/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..e8bc49aea1c5ee75342ce50ff0190e5f37b193f9 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0014/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d21bd877168caea2b88a297c711c6f0cae416cd7509873b5f7f6eab164b481a +size 28408 diff --git a/teleoperation/catch_and_place_plate/0015/sim/state.json b/teleoperation/catch_and_place_plate/0015/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..67ceaaab625ce2193668ff9a77eaaf0296784216 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0015/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0015", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 522, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0015", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0047826035879552364, + "max_abs_arm_12d": 0.0047826035879552364, + "rms_14d": 0.00042897870298475027, + "rms_arm_12d": 8.159302524290979e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0015/sim/state.npy b/teleoperation/catch_and_place_plate/0015/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..ebdf82897d86f837bc87a13a2a66f31eef2dc1c0 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0015/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fd29381b8cff84bd7e33a72ef131ecce49cfd7a8a38dac2a09f4cb8953ab7cc +size 29360 diff --git a/teleoperation/catch_and_place_plate/0016/sim/state.json b/teleoperation/catch_and_place_plate/0016/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..fe7300fa3fca6ee396605c565400b174eec5175b --- /dev/null +++ b/teleoperation/catch_and_place_plate/0016/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0016", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 558, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0016", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005156997940503061, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0016/sim/state.npy b/teleoperation/catch_and_place_plate/0016/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..237d4323a3f0774e012f07f7ad1fa87c1a6275a2 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0016/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40052d131a92fb3b49fcc25011cf18fdea5818f64b62e9f6fcc536a3db317f1b +size 31376 diff --git a/teleoperation/catch_and_place_plate/0017/sim/state.json b/teleoperation/catch_and_place_plate/0017/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..98dc7079e0ce05025733719fe366cc609abb5b1c --- /dev/null +++ b/teleoperation/catch_and_place_plate/0017/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0017", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 592, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0017", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00041438807966187596, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0017/sim/state.npy b/teleoperation/catch_and_place_plate/0017/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..de8762e6f6f1abe0dc4c5ca597e673972479a732 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0017/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93b9680ef72fd2eaf447a89a66a30ff61cde07f5c2ef6645ea84ae9b222c691b +size 33280 diff --git a/teleoperation/catch_and_place_plate/0018/sim/state.json b/teleoperation/catch_and_place_plate/0018/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..77e32ac5da4b75199759defad47760839d1ac25d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0018/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0018", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 536, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0018", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.00019075472664553672, + "rms_14d": 0.0005880520329810679, + "rms_arm_12d": 2.4137748368957546e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0018/sim/state.npy b/teleoperation/catch_and_place_plate/0018/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..dc42c570ec85afb1ae1d7bbac6882ef5a5d6a9fa --- /dev/null +++ b/teleoperation/catch_and_place_plate/0018/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1556c7fb4c6073ed4e8ce05b6bc6a4805c3e42cee6e9012bace4b67c442618d +size 30144 diff --git a/teleoperation/catch_and_place_plate/0019/sim/state.json b/teleoperation/catch_and_place_plate/0019/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..ef41782587d8b736daf8295e9658010843eb78d6 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0019/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0019", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 517, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0019", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0024911893997341394, + "max_abs_arm_12d": 0.0024911893997341394, + "rms_14d": 0.0005100033013150096, + "rms_arm_12d": 4.503508534980938e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0019/sim/state.npy b/teleoperation/catch_and_place_plate/0019/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..38c26865cc80ee624f0f17aa45947d71f3ee6b84 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0019/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae41cea9a3c0d24ccbb3eff5f36ed6b97ae91599ab3e16e3ab59600997553851 +size 29080 diff --git a/teleoperation/catch_and_place_plate/0020/sim/state.json b/teleoperation/catch_and_place_plate/0020/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..d6d19be2e5854abee69d8725a1286cc3d7cfaa09 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0020/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0020", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 570, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0020", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004132192116230726, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0020/sim/state.npy b/teleoperation/catch_and_place_plate/0020/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..5488add98e8d446ec7dab9ea12966fe3c7c32753 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0020/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf11f3c3d4dec59371b14dbf1e99fb7d970a6cf891d9a8115edb5f370154f844 +size 32048 diff --git a/teleoperation/catch_and_place_plate/0021/sim/state.json b/teleoperation/catch_and_place_plate/0021/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..05ebc91dc9f5a10d61229ca5c5879cdc1071c235 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0021/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0021", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 544, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0021", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00043833762174472213, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0021/sim/state.npy b/teleoperation/catch_and_place_plate/0021/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b9ab80c38f89df4a673a6aebaf52f667a57e723d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0021/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b059fd8499a6fb2e0b44fd974440f57effaa37e0ab32e941f4a1644274931c6 +size 30592 diff --git a/teleoperation/catch_and_place_plate/0022/sim/state.json b/teleoperation/catch_and_place_plate/0022/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..e61d1d41a7e0d153b4755c5fbc8adad6c69ebaca --- /dev/null +++ b/teleoperation/catch_and_place_plate/0022/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0022", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 523, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0022", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00040640030056238174, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0022/sim/state.npy b/teleoperation/catch_and_place_plate/0022/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..039bbbe30d24c315a94225f0ad7baeec9bf3b0f5 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0022/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fcc292d65258ab21d98b7850697e2720e24fb2dbaaaa4a4d3b840c759651c72 +size 29416 diff --git a/teleoperation/catch_and_place_plate/0023/sim/state.json b/teleoperation/catch_and_place_plate/0023/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..eef20aad74e117a720de1601cbaa1c8ccc3d122c --- /dev/null +++ b/teleoperation/catch_and_place_plate/0023/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0023", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 596, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0023", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0003986482333857566, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0023/sim/state.npy b/teleoperation/catch_and_place_plate/0023/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..eb862fa7568571e39514b9e7d3529bf270ec53f1 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0023/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57ebc4ce8d96c590c8b0a01e56e098fb4a12ac282977fcd0497449f897db58f2 +size 33504 diff --git a/teleoperation/catch_and_place_plate/0024/sim/state.json b/teleoperation/catch_and_place_plate/0024/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..ee66c1439c7ae964e07f635eaeea51263080a79f --- /dev/null +++ b/teleoperation/catch_and_place_plate/0024/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0024", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 610, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0024", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.002104029059410095, + "max_abs_arm_12d": 0.0009541831095702946, + "rms_14d": 0.0004402597260195762, + "rms_arm_12d": 1.127419454860501e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0024/sim/state.npy b/teleoperation/catch_and_place_plate/0024/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b975b6a39ed7c1896aefed223c1d38bc7d92e25a --- /dev/null +++ b/teleoperation/catch_and_place_plate/0024/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2749e2e7dde42ed91317a454a55150a040769f92cf944e2f47082d7e054d815 +size 34288 diff --git a/teleoperation/catch_and_place_plate/0025/sim/state.json b/teleoperation/catch_and_place_plate/0025/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..e6cab55fa88a82130e43e7100b712e508ccfe496 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0025/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0025", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 550, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0025", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0032414188608527184, + "max_abs_arm_12d": 0.0032414188608527184, + "rms_14d": 0.000511396094225347, + "rms_arm_12d": 4.066808469360694e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0025/sim/state.npy b/teleoperation/catch_and_place_plate/0025/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..5600b127bc554aa690316b7947d30dcbbfe1f36b --- /dev/null +++ b/teleoperation/catch_and_place_plate/0025/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c185731ca1aeff5030fe64011604931fa17b5ebee7cd2d871e1993f92e6633ec +size 30928 diff --git a/teleoperation/catch_and_place_plate/0026/sim/state.json b/teleoperation/catch_and_place_plate/0026/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..f3644a87c1e6f9b873482291e3171612ab47b21e --- /dev/null +++ b/teleoperation/catch_and_place_plate/0026/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0026", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 593, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0026", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0024788917507976294, + "max_abs_arm_12d": 0.0024788917507976294, + "rms_14d": 0.0003938257577829063, + "rms_arm_12d": 2.970194509543944e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0026/sim/state.npy b/teleoperation/catch_and_place_plate/0026/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..2987a00dd0613e71e5d988732068d46368696b8b --- /dev/null +++ b/teleoperation/catch_and_place_plate/0026/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22ceb149d30baa4c9e05d5ff599907cce6ea7a589b47d2eff302f549fcac1ae2 +size 33336 diff --git a/teleoperation/catch_and_place_plate/0027/sim/state.json b/teleoperation/catch_and_place_plate/0027/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..72e67c73aff2b62c65b008b95475da043c1daeeb --- /dev/null +++ b/teleoperation/catch_and_place_plate/0027/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0027", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 464, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0027", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.005148863419890404, + "max_abs_arm_12d": 0.005148863419890404, + "rms_14d": 0.00040639491635374725, + "rms_arm_12d": 6.969644164200872e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0027/sim/state.npy b/teleoperation/catch_and_place_plate/0027/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f222cea0913ea6c458411a494c8781039da41444 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0027/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a489815e18ec4d64681ff4f1c28044885349f8a631b358301eb5853b7f1dd05b +size 26112 diff --git a/teleoperation/catch_and_place_plate/0028/sim/state.json b/teleoperation/catch_and_place_plate/0028/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..30fafaa7bf67e31194e1ca3cd8fd3af586bf3038 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0028/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0028", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 559, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0028", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0005721636698581278, + "rms_14d": 0.00040313933277502656, + "rms_arm_12d": 7.05277807355742e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0028/sim/state.npy b/teleoperation/catch_and_place_plate/0028/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..76a1c4efeb938c563f1b67b1dc789d3f6ca9c2b6 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0028/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26705ee186c6ce30dc51d34c168d46ce50dfde4527ddb797980363fba84497c1 +size 31432 diff --git a/teleoperation/catch_and_place_plate/0029/sim/state.json b/teleoperation/catch_and_place_plate/0029/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..d483e6be2691d09bf665a5f569b6322cb9700b82 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0029/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0029", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 511, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0029", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0021199360489845276, + "max_abs_arm_12d": 0.0009563953499309719, + "rms_14d": 0.00040928772068582475, + "rms_arm_12d": 1.4830066902504768e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0029/sim/state.npy b/teleoperation/catch_and_place_plate/0029/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..ab95b994e8f8a6526d370ebb5e59f38cc8f6e73d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0029/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b60cda1eff91ca73cad995ea4ef8864c0a8abb0749be9761e368b4f9928eaf69 +size 28744 diff --git a/teleoperation/catch_and_place_plate/0030/sim/state.json b/teleoperation/catch_and_place_plate/0030/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1ec1b3ed42d3e26d831d81ae25258f2a2acd68 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0030/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0030", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 501, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0030", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0028615863993763924, + "max_abs_arm_12d": 0.0028615863993763924, + "rms_14d": 0.0003984420036431402, + "rms_arm_12d": 3.7432600947795436e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0030/sim/state.npy b/teleoperation/catch_and_place_plate/0030/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..5a0028541b1b14a49fc4c3c34f4731326a70f646 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0030/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d36073ca365e4bdbdefed0246747cbc763e19dc52eb8b5d547ed585ea7aa0476 +size 28184 diff --git a/teleoperation/catch_and_place_plate/0031/sim/state.json b/teleoperation/catch_and_place_plate/0031/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..b92cf12f08ea4bc7c714808a05b5c2c4fd69f9f1 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0031/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0031", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 572, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0031", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00046090770047158003, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0031/sim/state.npy b/teleoperation/catch_and_place_plate/0031/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..49879cf9a2b2f459dc5eb0f73728c6fbd1745750 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0031/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e91de374e8d3a563cbc52333764cdd572df4fb3f4c71690f2318bd89abb6ece0 +size 32160 diff --git a/teleoperation/catch_and_place_plate/0032/sim/state.json b/teleoperation/catch_and_place_plate/0032/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..33fd230a3dd34ddbb143c4ec0eb4d42aba757cb1 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0032/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0032", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 573, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0032", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.006674834527075291, + "max_abs_arm_12d": 0.006674834527075291, + "rms_14d": 0.00039420585380867124, + "rms_arm_12d": 8.144971798174083e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0032/sim/state.npy b/teleoperation/catch_and_place_plate/0032/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..ae0dd2a1d85c722bfc5e52a32bf0c88e04655976 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0032/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:625dc953861fcf8d9a4bd0f90d919317fef276c36e0c20f9832fc10f08660e29 +size 32216 diff --git a/teleoperation/catch_and_place_plate/0033/sim/state.json b/teleoperation/catch_and_place_plate/0033/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..6658675e718ac957075a963924c37695b10dd6aa --- /dev/null +++ b/teleoperation/catch_and_place_plate/0033/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0033", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 610, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0033", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00046444483450613916, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0033/sim/state.npy b/teleoperation/catch_and_place_plate/0033/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..c8a1e54326783a7fce844c7ef3e8d2716a5de94d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0033/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bc893ee97e2af6f2be7f16dc59f49e04cd6022a52e1000f2c785ae62cb9a38a +size 34288 diff --git a/teleoperation/catch_and_place_plate/0034/sim/state.json b/teleoperation/catch_and_place_plate/0034/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..639256817a47147c31beef8eee9c3b22a6696092 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0034/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0034", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 582, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0034", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00039634009590372443, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0034/sim/state.npy b/teleoperation/catch_and_place_plate/0034/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..77d1ba30efd2890b43dee7d5c2ab0992f748c46a --- /dev/null +++ b/teleoperation/catch_and_place_plate/0034/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87d261bf7b30d92e65bc56b0c72a8508fe6dd860619b72891d75dda833dfc0fa +size 32720 diff --git a/teleoperation/catch_and_place_plate/0035/sim/state.json b/teleoperation/catch_and_place_plate/0035/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1fa2a0fb3d67ffa3ecb0fbe838d55df671622c23 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0035/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0035", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 591, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0035", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00047310779336839914, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0035/sim/state.npy b/teleoperation/catch_and_place_plate/0035/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f60786d8b0ee26387f388103f842231875e3eba1 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0035/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f1ef0622ece768a7ff929cc094b8fe29f1f50208d5921a12979a83af5833d09 +size 33224 diff --git a/teleoperation/catch_and_place_plate/0036/sim/state.json b/teleoperation/catch_and_place_plate/0036/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..cdac7bd39c04a40dad3c127ba6e46a3b3044f947 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0036/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0036", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 563, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0036", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004137280920986086, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0036/sim/state.npy b/teleoperation/catch_and_place_plate/0036/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..98ed4d67cb48cfad4f74f895c3d1fc806542827f --- /dev/null +++ b/teleoperation/catch_and_place_plate/0036/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93908127ce18ac7885c98a768abaa952b601481cebfdc18fb44f4b3f4e22d557 +size 31656 diff --git a/teleoperation/catch_and_place_plate/0037/sim/state.json b/teleoperation/catch_and_place_plate/0037/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..15f12a3de12d518e82337cb45d4dab08333bcfac --- /dev/null +++ b/teleoperation/catch_and_place_plate/0037/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0037", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 615, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0037", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00041751429671421647, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0037/sim/state.npy b/teleoperation/catch_and_place_plate/0037/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..188db62ce279c0d26ffd692b1120b31e349abd32 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0037/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e3b1a53d119b552fe29b923278ff11b18512c737481c101d22f02314a08dc05 +size 34568 diff --git a/teleoperation/catch_and_place_plate/0038/sim/state.json b/teleoperation/catch_and_place_plate/0038/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..fee39a8f14a15f9a6771f51c88bdc196ed22fc10 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0038/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0038", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 664, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0038", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.000400537479436025, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0038/sim/state.npy b/teleoperation/catch_and_place_plate/0038/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..8eb74b708af3a625378a3ffa23545120e285e173 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0038/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a06de0c5870dd3db9874223a62f2be585ac58fd77ecb1970e85b16f4f56ab7e +size 37312 diff --git a/teleoperation/catch_and_place_plate/0039/sim/state.json b/teleoperation/catch_and_place_plate/0039/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..f5bfed9bc5e36a24149ad1fdd957334cdcda6b31 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0039/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0039", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 617, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0039", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.00019080631318502128, + "rms_14d": 0.0004610353789757937, + "rms_arm_12d": 2.3133143258746713e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0039/sim/state.npy b/teleoperation/catch_and_place_plate/0039/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..5559750075f77471a10f88763ca02de9ddf75505 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0039/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0ccc49fd68b59317aa735db63acf646520d9e2da2e91b3fed156f17aa883134 +size 34680 diff --git a/teleoperation/catch_and_place_plate/0040/sim/state.json b/teleoperation/catch_and_place_plate/0040/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..7125a52e6a6a1fac077944e4a8d366798713c135 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0040/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0040", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 640, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0040", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0005714168073609471, + "rms_14d": 0.0004690578207373619, + "rms_arm_12d": 7.137757620512275e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0040/sim/state.npy b/teleoperation/catch_and_place_plate/0040/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..a24e808d6e1a3fe7a13efc02100c9cdb51804269 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0040/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e9eae92e9050255585efc2d520a13d5bd36b745a6c109a23d602bf8e9db6dbb +size 35968 diff --git a/teleoperation/catch_and_place_plate/0041/sim/state.json b/teleoperation/catch_and_place_plate/0041/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..557f038a4e43990bc6418c3e2e4db399133cc213 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0041/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0041", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 567, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0041", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.004004515241831541, + "max_abs_arm_12d": 0.004004515241831541, + "rms_14d": 0.0004042955697514117, + "rms_arm_12d": 5.0113172619603574e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0041/sim/state.npy b/teleoperation/catch_and_place_plate/0041/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d1519c98521f1d213b3c8f213720c76702dedd14 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0041/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b68450a0514cdf248b762c0db36697bbaa294e482b6c2212671adfee16491bc4 +size 31880 diff --git a/teleoperation/catch_and_place_plate/0042/sim/state.json b/teleoperation/catch_and_place_plate/0042/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..751ed282434eb1cbc16cb9b6916c01c302937b7d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0042/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0042", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 599, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0042", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.002478871261700988, + "max_abs_arm_12d": 0.002478871261700988, + "rms_14d": 0.00040833165985532105, + "rms_arm_12d": 2.956773641926702e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0042/sim/state.npy b/teleoperation/catch_and_place_plate/0042/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..728a8e468b13f1e922a186d227bd0f2d67900807 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0042/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69dbe562e7df7f06258102622ff16a8e1976034b4676688c7e25d61934e4c7e7 +size 33672 diff --git a/teleoperation/catch_and_place_plate/0043/sim/state.json b/teleoperation/catch_and_place_plate/0043/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..41d4532ebbd5a0d8b588e11dbca307eee86d2c68 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0043/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0043", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 531, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0043", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00041912798769772053, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0043/sim/state.npy b/teleoperation/catch_and_place_plate/0043/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..53576f991bd8a7b2df10c183364f8b8268c3af6f --- /dev/null +++ b/teleoperation/catch_and_place_plate/0043/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74f1d3ab7c4b19d847de5a480c5c61e5df21c5288776dc72f9278987d27e74d7 +size 29864 diff --git a/teleoperation/catch_and_place_plate/0044/sim/state.json b/teleoperation/catch_and_place_plate/0044/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..30d2a9d4c82c1c72d064310db56d8fa1af048172 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0044/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0044", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 602, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0044", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004098115023225546, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0044/sim/state.npy b/teleoperation/catch_and_place_plate/0044/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..fea6512fc6fc717719a607df36a5613c58877288 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0044/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3645d14c5efd95884e679250556365f5277d3b86dfdd3d558299160a9c8ff20 +size 33840 diff --git a/teleoperation/catch_and_place_plate/0045/sim/state.json b/teleoperation/catch_and_place_plate/0045/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..288f45324caa1507d3a6486a49dee025a670d323 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0045/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0045", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 605, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0045", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00040217768400907516, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0045/sim/state.npy b/teleoperation/catch_and_place_plate/0045/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..4d36027931fb505f23fb0c25e9496dc80c160055 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0045/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b7a9c16d6694b9777a4a06d52f6cc9667ed3f2c1a67324a816a7ade16eacc42 +size 34008 diff --git a/teleoperation/catch_and_place_plate/0046/sim/state.json b/teleoperation/catch_and_place_plate/0046/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..061dd86eebc23cc08910be032378f60fbc84d0fa --- /dev/null +++ b/teleoperation/catch_and_place_plate/0046/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0046", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 550, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0046", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004177550144959241, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0046/sim/state.npy b/teleoperation/catch_and_place_plate/0046/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f83dd702d7deb7aba726661eea8c5ac503b4a4cb --- /dev/null +++ b/teleoperation/catch_and_place_plate/0046/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51920c5a5914dc72b2e2d649154068f186325252af10060bca60eb009c674d71 +size 30928 diff --git a/teleoperation/catch_and_place_plate/0047/sim/state.json b/teleoperation/catch_and_place_plate/0047/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..cab22a8d82621bb7b2e01794d300097cb6f3f68b --- /dev/null +++ b/teleoperation/catch_and_place_plate/0047/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0047", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 578, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0047", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0005752265569753945, + "rms_14d": 0.00042483830475248396, + "rms_arm_12d": 7.178808118624147e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0047/sim/state.npy b/teleoperation/catch_and_place_plate/0047/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..9326a3d601a47381aef3ea4a9100af60a1a92b2f --- /dev/null +++ b/teleoperation/catch_and_place_plate/0047/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54254b915a6583485b136108a4c549e9bccf287e37ccefb6d48e21ecca469b57 +size 32496 diff --git a/teleoperation/catch_and_place_plate/0048/sim/state.json b/teleoperation/catch_and_place_plate/0048/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1e88a506e2b7710b0551b5e0c545b7a81808d206 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0048/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0048", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 504, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0048", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.001726696384139359, + "rms_14d": 0.00041872618021443486, + "rms_arm_12d": 2.229457641078625e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0048/sim/state.npy b/teleoperation/catch_and_place_plate/0048/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..0b6c0ae220f171e076022d8154c3d67962087a3d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0048/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e6a0caefcf13ef6d3469dcb3f8a6cdc7a5a6dce7267c24d7864c8f56dbd5f70 +size 28352 diff --git a/teleoperation/catch_and_place_plate/0049/sim/state.json b/teleoperation/catch_and_place_plate/0049/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1c7d8a3b2ddff92780e2ca6aa0645a3845f31615 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0049/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0049", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 508, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0049", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004122194950468838, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0050/sim/state.npy b/teleoperation/catch_and_place_plate/0050/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f3a10409ac9021288b3ab2b094b3dc3d3795baf3 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0050/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36ffd2cd138bcb2c5a9924c93dfe0e61037a4f7e39a5aaf1b02723e21b259274 +size 30816 diff --git a/teleoperation/catch_and_place_plate/0051/sim/state.json b/teleoperation/catch_and_place_plate/0051/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..9d6a513def4d7ff1584adeac9fd932da445906cf --- /dev/null +++ b/teleoperation/catch_and_place_plate/0051/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0051", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 546, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0051", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00041474917088635266, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0051/sim/state.npy b/teleoperation/catch_and_place_plate/0051/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..1a5226bfe275e3133425363d64a3732c9fcb042d --- /dev/null +++ b/teleoperation/catch_and_place_plate/0051/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12de65ab2f075a94b5bf97414b7cd867d4a42837f32cd8ac6c28a308f3d50678 +size 30704 diff --git a/teleoperation/catch_and_place_plate/0052/sim/state.json b/teleoperation/catch_and_place_plate/0052/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..7ad859bb3765807c4978c0aa942ea4ebd5e636d5 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0052/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0052", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 507, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0052", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.004012997727841139, + "max_abs_arm_12d": 0.004012997727841139, + "rms_14d": 0.0004171231703367084, + "rms_arm_12d": 5.244405474513769e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0052/sim/state.npy b/teleoperation/catch_and_place_plate/0052/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..2109c7cf1a5cb3d4d6d13da7116c519130e86d6b --- /dev/null +++ b/teleoperation/catch_and_place_plate/0052/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:738834c2552a9da1f60c3e060cfff9a20ec7be77e51eb32a28d4024cc0ebfe93 +size 28520 diff --git a/teleoperation/catch_and_place_plate/0053/sim/state.json b/teleoperation/catch_and_place_plate/0053/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..3a7bfbb73aefe110d8f3499954f655147099b831 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0053/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0053", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 527, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0053", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0028858529403805733, + "max_abs_arm_12d": 0.0028858529403805733, + "rms_14d": 0.0004452132561709732, + "rms_arm_12d": 3.857107731164433e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_plate/0053/sim/state.npy b/teleoperation/catch_and_place_plate/0053/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..9d2582830239741a7edd07b7c7cf4b86b30692f4 --- /dev/null +++ b/teleoperation/catch_and_place_plate/0053/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5455e3e73c11eae82a7625d926deb2b023fdf0686138f29628670f3d942c2dc2 +size 29640 diff --git a/teleoperation/catch_and_place_spounge/0001/sim/state.json b/teleoperation/catch_and_place_spounge/0001/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..e75b1e17b754ab4a4942eaa238e88c25e06b045d --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0001/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0001", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 578, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0001", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006205674726516008, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0001/sim/state.npy b/teleoperation/catch_and_place_spounge/0001/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..bfdc92707c7a95ef93fa3b11e6036cda93120304 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0001/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95bf5e4772d654c79c08c4ef564260ef31501760ee18929a80d14ff2dc0b9f7a +size 32496 diff --git a/teleoperation/catch_and_place_spounge/0002/sim/state.json b/teleoperation/catch_and_place_spounge/0002/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..7f105f7a8b71ffdb6b63c7ecc6075064d9d6065f --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0002/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0002", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 568, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0002", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0017167708138003945, + "rms_14d": 0.0006123699131421745, + "rms_arm_12d": 2.20159981836332e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0002/sim/state.npy b/teleoperation/catch_and_place_spounge/0002/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f6c00b4e65687ce4bee13347f746e8c0e1f1f572 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0002/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9dc12733890c36dc5d641507917dfc94a017b8c9d7d5b4e4f83dc5ca362f8fc0 +size 31936 diff --git a/teleoperation/catch_and_place_spounge/0003/sim/state.json b/teleoperation/catch_and_place_spounge/0003/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..cdf6548c241cccc43d331344b1b28fe8b3c31581 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0003/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0003", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 571, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0003", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0013347967760637403, + "rms_14d": 0.0006121313199400902, + "rms_arm_12d": 1.6311907529598102e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0003/sim/state.npy b/teleoperation/catch_and_place_spounge/0003/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..886e6dc33fd9aa4ab3be1f959cdb1ac4730be454 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0003/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6a261e7ac783f980d23c5bddaf990b3005fa766b6a53d4ea47e43eeb4d54fa9 +size 32104 diff --git a/teleoperation/catch_and_place_spounge/0004/sim/state.json b/teleoperation/catch_and_place_spounge/0004/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..8b1f44308bcf4935c8e840900d84934236f8d4b0 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0004/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0004", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 561, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0004", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005181754822842777, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0004/sim/state.npy b/teleoperation/catch_and_place_spounge/0004/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7187a0405cbc41f86c1207536987931cee00e82 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0004/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:faf32423c3dfa87db81f51c4bbb7b75f2fd5134726e99273864b1417dc0e620f +size 31544 diff --git a/teleoperation/catch_and_place_spounge/0005/sim/state.json b/teleoperation/catch_and_place_spounge/0005/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..22fa1fb168968884348847afedd8258396da1736 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0005/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0005", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 579, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0005", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0017163782613351941, + "rms_14d": 0.0004565094714052975, + "rms_arm_12d": 2.104032682836987e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0005/sim/state.npy b/teleoperation/catch_and_place_spounge/0005/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..6ed72e050af5edd9513d9c75b78e0ddc27873e30 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0005/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2313a5b8b6d0b7418ce76a7e8058886e75fddbe8414c39d5a0023a0dab98de20 +size 32552 diff --git a/teleoperation/catch_and_place_spounge/0006/sim/state.json b/teleoperation/catch_and_place_spounge/0006/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..14869bb334c2be312e498834917b72759d460974 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0006/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0006", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 561, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0006", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006244367687031627, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0006/sim/state.npy b/teleoperation/catch_and_place_spounge/0006/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..2c0fa81ddb08b42aed697ec9c1a616a4286764ee --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0006/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f7080d5df2f487a59153f5c45815ba5a67d54484b324468fe37a5d377d3f0de +size 31544 diff --git a/teleoperation/catch_and_place_spounge/0007/sim/state.json b/teleoperation/catch_and_place_spounge/0007/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..52eeba400e2821e648f3195ec4b2ae40d86e7e27 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0007/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0007", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 560, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0007", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.00019069302652496845, + "rms_14d": 0.0006105385255068541, + "rms_arm_12d": 2.3521133698523045e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0007/sim/state.npy b/teleoperation/catch_and_place_spounge/0007/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..3354e993be170ed9c65c0c3b459dcbe6e22e4df2 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0007/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd4b4a57f9321174ab7104030d9c6c727beeee2c036fa3d4b59cc842e8e30697 +size 31488 diff --git a/teleoperation/catch_and_place_spounge/0008/sim/state.json b/teleoperation/catch_and_place_spounge/0008/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..32ffc7524b5d12413ec6c211fabb957d23a4fd61 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0008/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0008", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 520, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0008", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006079751183278859, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0008/sim/state.npy b/teleoperation/catch_and_place_spounge/0008/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..472218de5aa0a26b899490f611d4e192571b5373 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0008/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8d7edbb0bfbe742ea6725d240790d769dcbff429559bc06d6af282d7f3e7b76 +size 29248 diff --git a/teleoperation/catch_and_place_spounge/0009/sim/state.json b/teleoperation/catch_and_place_spounge/0009/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..e3f9eb259f8838e01d693972f66139041a3e2f1e --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0009/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0009", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 560, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0009", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005812227609567344, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0009/sim/state.npy b/teleoperation/catch_and_place_spounge/0009/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..af753ca72d2d762c5a0f33dc527a92fbaf1521e8 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0009/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d168c2f5a1ca94b61fe82eea98d5379f8b6b7fd5903c83393a7368d03edfc1fa +size 31488 diff --git a/teleoperation/catch_and_place_spounge/0010/sim/state.json b/teleoperation/catch_and_place_spounge/0010/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..04a16ea8d63303d5d070f5f2793045e528f5733a --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0010/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0010", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 537, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0010", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.005814313888549805, + "max_abs_arm_12d": 0.005814313888549805, + "rms_14d": 0.0006055438425391912, + "rms_arm_12d": 0.00025714089861139655 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0010/sim/state.npy b/teleoperation/catch_and_place_spounge/0010/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..59f42d2a6db6e1fd4628f6bf1efe2a85b324acde --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0010/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fdb90ff997c520c09df0229d14c303ffd5e354fd520c1b09523bfc1b8ccd01b +size 30200 diff --git a/teleoperation/catch_and_place_spounge/0011/sim/state.json b/teleoperation/catch_and_place_spounge/0011/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..0aa4ced620cc21b54782d59721f9336277303be3 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0011/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0011", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 552, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0011", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00047874797019176185, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0011/sim/state.npy b/teleoperation/catch_and_place_spounge/0011/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..1212c315ed150d18585d1940b835bbd268cbc657 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0011/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:580fb6a05da3babea7a227d04a36f68be3e0c72d5ab8f8a3d1c0f48afa77fcd4 +size 31040 diff --git a/teleoperation/catch_and_place_spounge/0012/sim/state.json b/teleoperation/catch_and_place_spounge/0012/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..00093bb006bedc88022332a5c928e50619a5360f --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0012/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0012", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 596, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0012", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005819141515530646, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0012/sim/state.npy b/teleoperation/catch_and_place_spounge/0012/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..c306fb883f9aa8ef02d40ec4ba310902ae782003 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0012/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c21b79f111f8ae23b0b46a13334a20f411385f1f289e61df661d6d1c417f967 +size 33504 diff --git a/teleoperation/catch_and_place_spounge/0013/sim/state.json b/teleoperation/catch_and_place_spounge/0013/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..4ee95ad456a845265a4dc241b952561f0f610b89 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0013/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0013", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 595, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0013", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0017189771169796586, + "rms_14d": 0.000591835705563426, + "rms_arm_12d": 2.0558958567562513e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0013/sim/state.npy b/teleoperation/catch_and_place_spounge/0013/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d040a621018126341125ff64450583fdc737d113 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0013/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68f0f27c90f9b1800b161841c21560f5d626e1547b53aeb6a3a94c71ff8d65ed +size 33448 diff --git a/teleoperation/catch_and_place_spounge/0014/sim/state.json b/teleoperation/catch_and_place_spounge/0014/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..439398042cb9b234dec3c2d556b020a67390f542 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0014/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0014", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 545, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0014", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00048405464622192085, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0014/sim/state.npy b/teleoperation/catch_and_place_spounge/0014/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..42d36a5546cff60be025e417a0ae508d4204d274 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0014/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4138191d9143e9a5d29eda1a35542c2aab259ec667f4f64f07234ee0e11f4135 +size 30648 diff --git a/teleoperation/catch_and_place_spounge/0015/sim/state.json b/teleoperation/catch_and_place_spounge/0015/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5c1fb78d3443b6764b3961ee173720d4fa3b73 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0015/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0015", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 519, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0015", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005697289016097784, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0015/sim/state.npy b/teleoperation/catch_and_place_spounge/0015/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..661f6dd7180352bd3c854cc03858ab80728831a5 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0015/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:199c71b428cca31cc93b01e0ed94c8ae2542a99076779dd4ffe6473585320aae +size 29192 diff --git a/teleoperation/catch_and_place_spounge/0016/sim/state.json b/teleoperation/catch_and_place_spounge/0016/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..17dcea944dc2c0587389409b6e3e8aaec78962f8 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0016/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0016", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 501, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0016", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0024855071678757668, + "max_abs_arm_12d": 0.0024855071678757668, + "rms_14d": 0.0004945824621245265, + "rms_arm_12d": 3.681795351440087e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0016/sim/state.npy b/teleoperation/catch_and_place_spounge/0016/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..3402bc07ef53ceeffedc9c5198d3e78d8f86d77f --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0016/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcc5eb8d48a116a977e372664e876fb54d3e5422e6f15f19b4ed44aefe4a467d +size 28184 diff --git a/teleoperation/catch_and_place_spounge/0017/sim/state.json b/teleoperation/catch_and_place_spounge/0017/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..15abe2f27ff78c2681962ebc96e085ce4d225f1b --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0017/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0017", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 590, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0017", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00046960508916527033, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0017/sim/state.npy b/teleoperation/catch_and_place_spounge/0017/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..efc60d48df6047579d4627186e86d4419b91277c --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0017/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3af027b5ec2244e3498dec98993a58b557e3ffedef451d9acaa00a60b3048858 +size 33168 diff --git a/teleoperation/catch_and_place_spounge/0018/sim/state.json b/teleoperation/catch_and_place_spounge/0018/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..a9ccfd4fb64726c526b99d606b5854c27264d014 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0018/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0018", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 513, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0018", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0013432041741907597, + "rms_14d": 0.00045843698899261653, + "rms_arm_12d": 1.7483675037510693e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0018/sim/state.npy b/teleoperation/catch_and_place_spounge/0018/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d21cfee33bcbaa6438f08bbb6f0f55092c9ad7e2 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0018/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90b42fc549b8fa1d3c54a2ea864c21502d0008a7d9846051a7cf9b81b3b1e77d +size 28856 diff --git a/teleoperation/catch_and_place_spounge/0019/sim/state.json b/teleoperation/catch_and_place_spounge/0019/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..e3bd9e1af19a5ba97f5fbf57b7e607ac5a308115 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0019/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0019", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 550, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0019", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00047075835755094886, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0019/sim/state.npy b/teleoperation/catch_and_place_spounge/0019/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d23f24e8928eb3a6a3a646091a8ae7c5c9cc6ae6 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0019/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cbf5cbcbe6b2f4de0fb3739dcaaae4804d769b2d25dfb78cb67ac03abac79a4 +size 30928 diff --git a/teleoperation/catch_and_place_spounge/0020/sim/state.json b/teleoperation/catch_and_place_spounge/0020/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..41b26b63b0c89dbfd0571dd1137adbc2e7459fb4 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0020/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0020", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 611, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0020", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.000426025886554271, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0020/sim/state.npy b/teleoperation/catch_and_place_spounge/0020/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..427db8bf6f293630611d415b0535787789d6027f --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0020/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ccd4ac0b1d7c706da7f9d7e4c6878bb4ab69ff1792e9ede37a2c3cc9add9158 +size 34344 diff --git a/teleoperation/catch_and_place_spounge/0021/sim/state.json b/teleoperation/catch_and_place_spounge/0021/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..5a60e950d8b08b9124f65fd31c59849dd324dea1 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0021/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0021", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 539, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0021", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0013350214576348662, + "rms_14d": 0.0004355429264251143, + "rms_arm_12d": 1.707329647615552e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0021/sim/state.npy b/teleoperation/catch_and_place_spounge/0021/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..2736359e3c40db282537e952bdba56f75f4c92c7 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0021/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c793cf3d2ac72ecd9ee56f1627bb1d3aa9a1bea3f932e48d687cb0d7d3e49813 +size 30312 diff --git a/teleoperation/catch_and_place_spounge/0022/sim/state.json b/teleoperation/catch_and_place_spounge/0022/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1647d474fe69aaff69841f2a3b9136bfa630ac17 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0022/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0022", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 555, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0022", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00046252598986029625, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0022/sim/state.npy b/teleoperation/catch_and_place_spounge/0022/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d800cc92f23d20042c86c96e16f4b88a4fedf618 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0022/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25d53591e59bd0501a41d7482bfa107457cde177555d5c8169f1371730d08db5 +size 31208 diff --git a/teleoperation/catch_and_place_spounge/0023/sim/state.json b/teleoperation/catch_and_place_spounge/0023/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..66e713c7e7b7c4f23614a788b105c0fbc77b3695 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0023/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0023", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 508, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0023", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004940168000757694, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0023/sim/state.npy b/teleoperation/catch_and_place_spounge/0023/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f6605f1ed62283519e37b02371c21f162e68b7b9 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0023/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7a8389a82ce6f5e85f65793e52a248c66f1c345766dbd37588bcdbec6b9c8fd +size 28576 diff --git a/teleoperation/catch_and_place_spounge/0024/sim/state.json b/teleoperation/catch_and_place_spounge/0024/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..6ecf9598ad3ae3272f17451b8cedd07bee7c4163 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0024/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0024", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 507, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0024", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00046551995910704136, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0024/sim/state.npy b/teleoperation/catch_and_place_spounge/0024/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..90dc7cdbe25ac41cbfb1c9bef20a6e5189cb4598 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0024/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b55ebb8d55da11f86b3ea88e54cc1722791fae60491a59ff57c8ce056d2385c1 +size 28520 diff --git a/teleoperation/catch_and_place_spounge/0025/sim/state.json b/teleoperation/catch_and_place_spounge/0025/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..10930681aa17eb3aeb98fee22d78e354fc9c3bc1 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0025/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0025", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 566, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0025", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.003977764397859573, + "max_abs_arm_12d": 0.003977764397859573, + "rms_14d": 0.0004376755969133228, + "rms_arm_12d": 5.175179830985144e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0025/sim/state.npy b/teleoperation/catch_and_place_spounge/0025/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b9250ec2556890ebe3321ca4ffd398fa6ef3428d --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0025/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6af543d77cf59566710dd2cb6a07f95bb19f23e50a308a3110fc49a6581adcc +size 31824 diff --git a/teleoperation/catch_and_place_spounge/0026/sim/state.json b/teleoperation/catch_and_place_spounge/0026/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..34f44f5f2470dd61ab22477c3562a8d7d489a85a --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0026/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0026", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 576, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0026", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00045021902769804, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0026/sim/state.npy b/teleoperation/catch_and_place_spounge/0026/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..5939b3b364f51b07d3a3ba6ac63928765e6ca572 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0026/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31e264db47739d8b9114d1cfd5d9bf6d2762724263c3f61489886a60ab7140da +size 32384 diff --git a/teleoperation/catch_and_place_spounge/0027/sim/state.json b/teleoperation/catch_and_place_spounge/0027/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..faaedecd29718e86d55ea42c92545d3b48541ca1 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0027/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0027", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 561, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0027", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.002117440104484558, + "max_abs_arm_12d": 0.0009565253858454525, + "rms_14d": 0.00046148861292749643, + "rms_arm_12d": 1.1935651855310425e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0027/sim/state.npy b/teleoperation/catch_and_place_spounge/0027/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..c76f1c5a8393030576aa5c207f7e8fca3d7c1fbb --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0027/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:057fc862ca5602be97e1d77fdf3967e2fbe86747b678e9c6dcf7c6a208cc4071 +size 31544 diff --git a/teleoperation/catch_and_place_spounge/0028/sim/state.json b/teleoperation/catch_and_place_spounge/0028/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..e9741faaed0ba2d89d6eb7faab4bd3e884303da1 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0028/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0028", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 522, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0028", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004333419492468238, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0028/sim/state.npy b/teleoperation/catch_and_place_spounge/0028/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..53c8174516c3eedce0f90cc64efd965c1d2f9424 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0028/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c5aeb327319ee5902b5489cf2a83bb39d79a97d0845906cc3e031986e014209 +size 29360 diff --git a/teleoperation/catch_and_place_spounge/0029/sim/state.json b/teleoperation/catch_and_place_spounge/0029/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..ad0eda9864eb8f4e806d08eff17381d1f7af5645 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0029/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0029", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 541, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0029", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004906952963210642, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0029/sim/state.npy b/teleoperation/catch_and_place_spounge/0029/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b61df489b75df8b97c4b6a5555f965e9bb0a8e38 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0029/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aed9a9c11be3616c0bfed95792aadc5b5ba3155578fa0e83404e845b0d70f165 +size 30424 diff --git a/teleoperation/catch_and_place_spounge/0030/sim/state.json b/teleoperation/catch_and_place_spounge/0030/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..2a64b59e29495c88b2b2ea577799b42f06cb5ba1 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0030/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0030", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 601, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0030", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004866083327215165, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0030/sim/state.npy b/teleoperation/catch_and_place_spounge/0030/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..126d878ab13af9a5d12cfe8e8bdf1e47d1a7b5ee --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0030/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14c5c4bd27697fc36310829c7ded886211b6be5c3f5a2654ff1b295f6d0ff452 +size 33784 diff --git a/teleoperation/catch_and_place_spounge/0031/sim/state.json b/teleoperation/catch_and_place_spounge/0031/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..31b310e919f25e567c5207dc84eda49bef8e8f06 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0031/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0031", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 540, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0031", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.000460438197478652, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0031/sim/state.npy b/teleoperation/catch_and_place_spounge/0031/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..567ba5634a42fb986331d086876283b50316f00a --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0031/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:613290a91bf5532422f38b8e9ba511d0cfbf11b656212079ef1dcc5d7507b8cd +size 30368 diff --git a/teleoperation/catch_and_place_spounge/0032/sim/state.json b/teleoperation/catch_and_place_spounge/0032/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..4ca73c24b3eb16585e5489c690181c58011908fc --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0032/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0032", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 529, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0032", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004382037150207907, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0032/sim/state.npy b/teleoperation/catch_and_place_spounge/0032/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..6810f6fa967e1d03e3982c445937be4477b41292 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0032/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dead81b1127aaa64376209959c32d7d517ef01010ac61603c172ded5d6e4f25d +size 29752 diff --git a/teleoperation/catch_and_place_spounge/0033/sim/state.json b/teleoperation/catch_and_place_spounge/0033/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..456d53d8c42c276ca9f9b8c547ada8a1161cc5bc --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0033/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0033", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 626, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0033", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0021271556615829468, + "max_abs_arm_12d": 0.0013424699427559972, + "rms_14d": 0.00048693481949158013, + "rms_arm_12d": 2.2138394342618994e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0033/sim/state.npy b/teleoperation/catch_and_place_spounge/0033/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..a37f32d7bbfc87b65aeb8432de14941d6371408b --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0033/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bb22a0368262f6d19b9a20fa88d0215022c38b37c98d03bc5b30a76d1523f69 +size 35184 diff --git a/teleoperation/catch_and_place_spounge/0034/sim/state.json b/teleoperation/catch_and_place_spounge/0034/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..54d9424070e854cbe45169f3cf24091f513a41a7 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0034/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0034", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 565, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0034", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005535572418011725, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0034/sim/state.npy b/teleoperation/catch_and_place_spounge/0034/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f30ff2e74a10192c06eae04ed75fcc851ca9a2ea --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0034/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c532f02049991b245219470d9152700230310cce3a65a09d4a50f3bdecdec8f +size 31768 diff --git a/teleoperation/catch_and_place_spounge/0035/sim/state.json b/teleoperation/catch_and_place_spounge/0035/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..677bf8401e37b25b3d48f4365513dce0fbe510a3 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0035/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0035", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 518, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0035", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006018973072059453, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0035/sim/state.npy b/teleoperation/catch_and_place_spounge/0035/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..9cdcb1629a63acde8500bacce5e069c98af2b29c --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0035/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:645814ef5002be5c48e14f905408d3951f6091566cae8f84ded3d9247734675b +size 29136 diff --git a/teleoperation/catch_and_place_spounge/0036/sim/state.json b/teleoperation/catch_and_place_spounge/0036/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..6e61897f2317346b2530be190ba641afa798eb6f --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0036/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0036", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 518, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0036", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.00019075888849329203, + "rms_14d": 0.0005805906257592142, + "rms_arm_12d": 2.4668293008289766e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0036/sim/state.npy b/teleoperation/catch_and_place_spounge/0036/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..808bc64f6e242b0b099669fdb468bb6c60de263a --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0036/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2c15dfc510c26430d3e0503cbab93794612e8705e745f85b197bd5f7a353113 +size 29136 diff --git a/teleoperation/catch_and_place_spounge/0037/sim/state.json b/teleoperation/catch_and_place_spounge/0037/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..321bb5405e12047b5cb171c46d6ebc030c5d14e8 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0037/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0037", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 553, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0037", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006335284560918808, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0037/sim/state.npy b/teleoperation/catch_and_place_spounge/0037/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..83ab67b613d2f87dcbf4614eae5ada2dac05cf70 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0037/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9be989f1d6472bccc6ce67d4ff6c0e7821ca70e39569551c9d1ac96e1ebb4f3 +size 31096 diff --git a/teleoperation/catch_and_place_spounge/0038/sim/state.json b/teleoperation/catch_and_place_spounge/0038/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..c72fc38a6e922ad28e6bf692cab53bf9b1229cd5 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0038/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0038", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 534, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0038", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006182997021824121, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0038/sim/state.npy b/teleoperation/catch_and_place_spounge/0038/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..31706d8b58b8b7dc5355dc010c5571a6a10a3b51 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0038/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6186f34a091237a251c4aa7488ffc1cb9fc39f4dea9c2dca7cfa2b22ee7ac1cb +size 30032 diff --git a/teleoperation/catch_and_place_spounge/0039/sim/state.json b/teleoperation/catch_and_place_spounge/0039/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c33775805fb9826f49719543a671ff6cd78994 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0039/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0039", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 493, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0039", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005332774599082768, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0039/sim/state.npy b/teleoperation/catch_and_place_spounge/0039/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..30b26767cc8d28ccf262436a9660490572ca924d --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0039/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:714bdb8d2355cfe5bf58646825c44ca75a33c99283059e265c8583e2708e53b0 +size 27736 diff --git a/teleoperation/catch_and_place_spounge/0040/sim/state.json b/teleoperation/catch_and_place_spounge/0040/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..d5a2234bb8a497da3f332637b212d9897c7806d7 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0040/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0040", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 500, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0040", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.005149128381162882, + "max_abs_arm_12d": 0.005149128381162882, + "rms_14d": 0.0006188438856042922, + "rms_arm_12d": 6.733313057338819e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0040/sim/state.npy b/teleoperation/catch_and_place_spounge/0040/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..0c1af26e843c01b777c18351c4af38ca4cbba479 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0040/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f11a2beb6a1c75bc96f2735a99965eaf52b3ded9656a9a11a7863d8e2bbc016 +size 28128 diff --git a/teleoperation/catch_and_place_spounge/0041/sim/state.json b/teleoperation/catch_and_place_spounge/0041/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..30f7e874e4c9ca806b26880a22fa98361f6a10ff --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0041/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0041", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 482, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0041", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006328535964712501, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0041/sim/state.npy b/teleoperation/catch_and_place_spounge/0041/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..a80ed0019f2e0854bf9adb04a8c1d1b26eb91e03 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0041/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:959a493bfb022adc517fca067da9c87ac8bf3eab1afcab1e14d1751ed9ce0a0b +size 27120 diff --git a/teleoperation/catch_and_place_spounge/0042/sim/state.json b/teleoperation/catch_and_place_spounge/0042/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..b930141fbcc33d93c0804eba4d0e6b7006658345 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0042/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0042", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 598, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0042", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0005722137866541743, + "rms_14d": 0.0005007857107557356, + "rms_arm_12d": 6.853955255792243e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0042/sim/state.npy b/teleoperation/catch_and_place_spounge/0042/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..14392c66b04af719d1e43601b5512747902264fc --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0042/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e56a920603f91e74c4a0b7832c3ee6365f91a0d0ba8191bfb682e5e4dfca850 +size 33616 diff --git a/teleoperation/catch_and_place_spounge/0043/sim/state.json b/teleoperation/catch_and_place_spounge/0043/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..4990b59f32b8ee109220189b22c44adb372a7e33 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0043/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0043", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 530, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0043", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0020977852400392294, + "rms_14d": 0.000609712500590831, + "rms_arm_12d": 2.669034802238457e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0043/sim/state.npy b/teleoperation/catch_and_place_spounge/0043/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..0f223f54c0c91a4f6981756a1f2afb804051eeba --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0043/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8292c31e2108de872b71d934fc5c429df4bf933984d6ef70eb57d033eaeed4b +size 29808 diff --git a/teleoperation/catch_and_place_spounge/0044/sim/state.json b/teleoperation/catch_and_place_spounge/0044/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1c360aef0ec5945b1d923a2ed34fb87ddec59fd7 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0044/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0044", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 521, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0044", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006411263020709157, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0044/sim/state.npy b/teleoperation/catch_and_place_spounge/0044/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..51b38faf4a02c1f27964e614ec682688d8569e6e --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0044/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c458c48c956b08115df1f37daa117096a8d15d2edb6a5fbbbc269c40b321024 +size 29304 diff --git a/teleoperation/catch_and_place_spounge/0045/sim/state.json b/teleoperation/catch_and_place_spounge/0045/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..c8f7f8968bb79a3bb177241d634ba54e2fbf4886 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0045/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0045", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 505, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0045", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0009545302600599825, + "rms_14d": 0.000620453036390245, + "rms_arm_12d": 1.2406613677740097e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0045/sim/state.npy b/teleoperation/catch_and_place_spounge/0045/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..92f9d761718406941699414dc1b97151e69fa924 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0045/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b89db705e75885a42b310ba0f799ed03b60b2cce9b79f0a52a551729a13e0e06 +size 28408 diff --git a/teleoperation/catch_and_place_spounge/0046/sim/state.json b/teleoperation/catch_and_place_spounge/0046/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..19a13e2190a3f2f2eb4e850e20c961ca9afd394a --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0046/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0046", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 521, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0046", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005421822424978018, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0046/sim/state.npy b/teleoperation/catch_and_place_spounge/0046/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..6d03495c4bc01d6acbc4b11f7a688dcae4aa1abb --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0046/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e843460225688f4c56a22c4f883d3541d03ccea63be7ad55d1a5b226a66ddc3 +size 29304 diff --git a/teleoperation/catch_and_place_spounge/0047/sim/state.json b/teleoperation/catch_and_place_spounge/0047/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..7a538a87eb9ee3a67ce1589448e6460b1c67d8df --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0047/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0047", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 499, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0047", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.005536499433219433, + "max_abs_arm_12d": 0.005536499433219433, + "rms_14d": 0.0005572494701482356, + "rms_arm_12d": 7.44929420761764e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0047/sim/state.npy b/teleoperation/catch_and_place_spounge/0047/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f3a94300dc2088950ed5c14d47f002322435bf26 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0047/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30615f8e8672326a991c382b876c2bca685fbf9745ce44401892b92a3b4a6ca7 +size 28072 diff --git a/teleoperation/catch_and_place_spounge/0048/sim/state.json b/teleoperation/catch_and_place_spounge/0048/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1434c4c39ad4aceb227913c5b18bac732854d80d --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0048/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0048", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 534, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0048", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0005744437221437693, + "rms_14d": 0.0005179131403565407, + "rms_arm_12d": 7.455610557371983e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0048/sim/state.npy b/teleoperation/catch_and_place_spounge/0048/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..c826eb41cecaf469f1c7df30186f89bdf670b475 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0048/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91e1bd88d416c1bf41d8c2a297065d772018dc0ade3a783023a2317e079ad947 +size 30032 diff --git a/teleoperation/catch_and_place_spounge/0049/sim/state.json b/teleoperation/catch_and_place_spounge/0049/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..f251fef3436fd15c007906c7464679e60838c815 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0049/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0049", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 530, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0049", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004298491985537112, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0049/sim/state.npy b/teleoperation/catch_and_place_spounge/0049/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..ffa80af5ea4b31dc6e411f93f255052258a42172 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0049/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de17fb1c790a30b701b75e8295b175a1f3fc495ca4a865ad17c54fa67d768835 +size 29808 diff --git a/teleoperation/catch_and_place_spounge/0050/sim/state.json b/teleoperation/catch_and_place_spounge/0050/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..8d25207bc621c27fa51090f68620571f7ea4f9df --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0050/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0050", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 590, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0050", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004365557979326695, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/catch_and_place_spounge/0050/sim/state.npy b/teleoperation/catch_and_place_spounge/0050/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..83fe7629e122b8d09c70131152131f3c040b1725 --- /dev/null +++ b/teleoperation/catch_and_place_spounge/0050/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:599afc617ea6f01274905d7310618c5442a6afec24e6682d4decf643c174394a +size 33168 diff --git a/teleoperation/pick_and_place_banana/0001/sim/state.json b/teleoperation/pick_and_place_banana/0001/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..0984c1b64767c9324abcb7e143f018fe635a69a0 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0001/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0001", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 628, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0001", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006601507775485516, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0001/sim/state.npy b/teleoperation/pick_and_place_banana/0001/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..ec9d66dfd24c5dbe280e113ba589caaf46af234e --- /dev/null +++ b/teleoperation/pick_and_place_banana/0001/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a39bbd4a9ed057e615a7a9016945dce1f479e0f7cd92776237917daa36d853c8 +size 35296 diff --git a/teleoperation/pick_and_place_banana/0002/sim/state.json b/teleoperation/pick_and_place_banana/0002/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..cc504feb06ed40bcce07201156512cf67181b646 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0002/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0002", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 588, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0002", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006719930097460747, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0002/sim/state.npy b/teleoperation/pick_and_place_banana/0002/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..20b47f9cbfe5fdea5eaa898de90b27381e7e931b --- /dev/null +++ b/teleoperation/pick_and_place_banana/0002/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9aaf3ca42558e02a1c4908e93f07578de5612e74669f1befbd4e780a6fe69973 +size 33056 diff --git a/teleoperation/pick_and_place_banana/0003/sim/state.json b/teleoperation/pick_and_place_banana/0003/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..5a70287725f3bf0f4f762c5a81471860ed66d0ef --- /dev/null +++ b/teleoperation/pick_and_place_banana/0003/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0003", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 756, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0003", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006716696079820395, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0003/sim/state.npy b/teleoperation/pick_and_place_banana/0003/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d2394fa23c521900084abccf89466d987053ca79 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0003/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1698403edf08312e135e4e00a6fb1e9a14798d4538d834f8639955b569e339a0 +size 42464 diff --git a/teleoperation/pick_and_place_banana/0004/sim/state.json b/teleoperation/pick_and_place_banana/0004/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..3542a346cbf7062faa77c445df03e6e7ae951640 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0004/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0004", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 769, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0004", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006545212818309665, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0004/sim/state.npy b/teleoperation/pick_and_place_banana/0004/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..fd2228167cec2c3f06d134adec17ff285474cff8 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0004/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e817d8af14cbde90925edc040188c6c4bdee321c33ca56f888fef3d58fa57ad8 +size 43192 diff --git a/teleoperation/pick_and_place_banana/0005/sim/state.json b/teleoperation/pick_and_place_banana/0005/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..ed2af4ae434c73471b4650010d593bd14201ebd5 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0005/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0005", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 850, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0005", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006544734351336956, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0006/sim/state.npy b/teleoperation/pick_and_place_banana/0006/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..5f3bd483e98568f72372bc2d716c670135588403 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0006/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04c2255f67d5df5939ada2d043d0d5268a9fdb0b6a057432066ff82263f6d17a +size 42128 diff --git a/teleoperation/pick_and_place_banana/0007/sim/state.json b/teleoperation/pick_and_place_banana/0007/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..486bd7ca322b1a569d21ba1140e1bfd4fc4f2a8f --- /dev/null +++ b/teleoperation/pick_and_place_banana/0007/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0007", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 698, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0007", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006615041056647897, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0009/sim/state.npy b/teleoperation/pick_and_place_banana/0009/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f981a47b6f1f63d564e9306d3299e1efb868b937 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0009/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9426307cd84e6034270dbbcca2cfbf171c444de8152d706e72bbb0dae41aced +size 43024 diff --git a/teleoperation/pick_and_place_banana/0010/sim/state.json b/teleoperation/pick_and_place_banana/0010/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..e83625413fd1c371a67677e1b6d17b56894591b2 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0010/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0010", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 712, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0010", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006640698411501944, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0010/sim/state.npy b/teleoperation/pick_and_place_banana/0010/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d0103b75e79e3d84e1285a30fe9ba5016bb9b16b --- /dev/null +++ b/teleoperation/pick_and_place_banana/0010/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebc8010913cb8d111e5c0b0a5e3f18a4cb471301d0d54c7583938dcbc47860e0 +size 40000 diff --git a/teleoperation/pick_and_place_banana/0011/sim/state.json b/teleoperation/pick_and_place_banana/0011/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..2bf5b1848f83dc18b7e656086a9c709b034c5783 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0011/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0011", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 740, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0011", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006406793836504221, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0011/sim/state.npy b/teleoperation/pick_and_place_banana/0011/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..6ca1b6a103152a93b23a8f4c87f71f00873bc6fc --- /dev/null +++ b/teleoperation/pick_and_place_banana/0011/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f03ef44c39e28b2798e9d309d882ce8e81bc14f9147cf9307af622c4ff442237 +size 41568 diff --git a/teleoperation/pick_and_place_banana/0012/sim/state.json b/teleoperation/pick_and_place_banana/0012/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..57939869b202edb70194f5ffc05d658896e66dd2 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0012/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0012", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 869, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0012", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006386884488165379, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0012/sim/state.npy b/teleoperation/pick_and_place_banana/0012/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..8e502a573ce05dce5388822c2c18f4d2aaa9f829 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0012/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:263aa71b4c7094a59905b5795cae949d42d11abc5ffcca929ccfa285ce4b6986 +size 48792 diff --git a/teleoperation/pick_and_place_banana/0013/sim/state.json b/teleoperation/pick_and_place_banana/0013/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..43bb7cfa5c0bdfb19509995b27a1846956bdb932 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0013/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0013", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 821, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0013", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.003641286864876747, + "max_abs_arm_12d": 0.003641286864876747, + "rms_14d": 0.0006453607929870486, + "rms_arm_12d": 3.737619408639148e-05 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0019/sim/state.npy b/teleoperation/pick_and_place_banana/0019/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b7239ae25637dc73a19570e7d6e8246f30bfb1ac --- /dev/null +++ b/teleoperation/pick_and_place_banana/0019/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2e5359298f32cc823719e5b67aba5727b8f4b9dc12446b883c8eb65f430ea58 +size 34064 diff --git a/teleoperation/pick_and_place_banana/0020/sim/state.json b/teleoperation/pick_and_place_banana/0020/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..f30a8ca9f11c415d2cd67eca889ce337b557da37 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0020/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0020", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 598, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0020", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.002100914716720581, + "max_abs_arm_12d": 0.0009584613144397736, + "rms_14d": 0.000655325420666486, + "rms_arm_12d": 1.16801702461089e-05 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0029/sim/state.npy b/teleoperation/pick_and_place_banana/0029/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..7dc694afea2fd00605f49eb19f1ab71372c1bd5f --- /dev/null +++ b/teleoperation/pick_and_place_banana/0029/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2875f522e996fcbc1375d57b6691c110520f4ed6c9c2286de483bbfa21574958 +size 35408 diff --git a/teleoperation/pick_and_place_banana/0030/sim/state.json b/teleoperation/pick_and_place_banana/0030/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..65525cfaef31e93da01f267468ccde9867dfc16d --- /dev/null +++ b/teleoperation/pick_and_place_banana/0030/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0030", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 605, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0030", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0005726718227379024, + "rms_14d": 0.000626690627541393, + "rms_arm_12d": 6.806611509091454e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0030/sim/state.npy b/teleoperation/pick_and_place_banana/0030/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d99bac26472f20a81333dd7763421154a70d9819 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0030/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:538685b9d27db94e970ace56603513bdc651c3735e767e78e43442337ebf5b83 +size 34008 diff --git a/teleoperation/pick_and_place_banana/0031/sim/state.json b/teleoperation/pick_and_place_banana/0031/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..ff608690d20ff79af119697cd0f1abe8d10c1f18 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0031/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0031", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 721, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0031", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006414144882000983, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0031/sim/state.npy b/teleoperation/pick_and_place_banana/0031/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..8c80f0aa947c002be5f110792e13db1943496617 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0031/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ca6f405d07a824c43340cc8a9193e22822b3c74d0ee7d8d0cd41a736438c5c7 +size 40504 diff --git a/teleoperation/pick_and_place_banana/0032/sim/state.json b/teleoperation/pick_and_place_banana/0032/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..475bbe52f79cf47219e6d57c9e7f5b8c5e5bc5d8 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0032/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0032", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 721, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0032", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.000657870783470571, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_banana/0039/sim/state.npy b/teleoperation/pick_and_place_banana/0039/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..9bfc5e218d8d6b3bdad783a2f175c36a42120347 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0039/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78516d99d7560049768e7719efc6aef81d7305324a8fb16da3822ef0adf1d4ba +size 36640 diff --git a/teleoperation/pick_and_place_banana/0040/sim/state.json b/teleoperation/pick_and_place_banana/0040/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..3381039c39309804bab0846069ed48a418268745 --- /dev/null +++ b/teleoperation/pick_and_place_banana/0040/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0040", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 598, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0040", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006519796443171799, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0006/sim/state.npy b/teleoperation/pick_and_place_baozi/0006/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..140fa32af8e20246138fd9335528e5844be5221d --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0006/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b1aa7d307d8fecb1bc6f6911ea725e66526ae8a3777e8ec87c8d88989cf762a +size 30648 diff --git a/teleoperation/pick_and_place_baozi/0007/sim/state.json b/teleoperation/pick_and_place_baozi/0007/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..9643733f55a1f0ad3b7d5cc6f103d584dc3c7e96 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0007/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0007", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 579, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0007", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.001738261547870934, + "rms_14d": 0.0004630931653082371, + "rms_arm_12d": 2.1014033336541615e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0007/sim/state.npy b/teleoperation/pick_and_place_baozi/0007/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..de050998bcffc7216b463e51a6f65bbd9bd08e5b --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0007/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df5489a4995b702f0f4f75600dc9ecde0ae763f3a190f01f89af4483d4fb2699 +size 32552 diff --git a/teleoperation/pick_and_place_baozi/0008/sim/state.json b/teleoperation/pick_and_place_baozi/0008/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..a944370b2a03d4986f350c1e2b74518a64a878da --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0008/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0008", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 598, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0008", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005347554106265306, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0008/sim/state.npy b/teleoperation/pick_and_place_baozi/0008/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..fe8f237e230b23c96e73a2c8cc15f590c92769b7 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0008/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2eaa984b55cec4a9272affe7c49ce544678c402434a065d8e05a01f9f80783c +size 33616 diff --git a/teleoperation/pick_and_place_baozi/0009/sim/state.json b/teleoperation/pick_and_place_baozi/0009/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..d529f784db857a0fd1b2c6cbb95c48d410463cb2 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0009/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0009", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 538, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0009", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005245363572612405, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0009/sim/state.npy b/teleoperation/pick_and_place_baozi/0009/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..c71c3f832c34b0dc76df2c40300e221ce3d95107 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0009/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33d986be4b39becf868470444ad0cdfb10eae762e40fc7c70ffd473e7a7f8bd8 +size 30256 diff --git a/teleoperation/pick_and_place_baozi/0010/sim/state.json b/teleoperation/pick_and_place_baozi/0010/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..3a809da8622041ffe4130a6d48f32c94c2680045 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0010/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0010", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 507, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0010", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.001732529024593532, + "rms_14d": 0.0005492081982083619, + "rms_arm_12d": 2.239190143882297e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0010/sim/state.npy b/teleoperation/pick_and_place_baozi/0010/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..4c45283d8fdf286dcb40293cf080acad788cbfaf --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0010/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91fbdf572bdc08fad71e0e560670f0f9f37d725242a61b0b59c856fda636a488 +size 28520 diff --git a/teleoperation/pick_and_place_baozi/0011/sim/state.json b/teleoperation/pick_and_place_baozi/0011/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..9f712f90599da895cc7a5b868e6fcd07dd458181 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0011/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0011", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 517, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0011", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004629798058886081, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0011/sim/state.npy b/teleoperation/pick_and_place_baozi/0011/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..300d03967b9f9649379fc8044b1ff8d7131abde3 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0011/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb77e0f3c76741339c3d63b1383677788f30701c0c99deb98c3e79c24c853b0a +size 29080 diff --git a/teleoperation/pick_and_place_baozi/0012/sim/state.json b/teleoperation/pick_and_place_baozi/0012/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1c1b3ac3717bd48049361497c50141a795e3a882 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0012/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0012", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 542, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0012", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0036471770144999027, + "max_abs_arm_12d": 0.0036471770144999027, + "rms_14d": 0.0004640088009182364, + "rms_arm_12d": 4.6350924094440416e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0012/sim/state.npy b/teleoperation/pick_and_place_baozi/0012/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..4b5e4d7a2dda27880495a943c693ae7e0c9f402f --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0012/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6344e1cdff65feb76bef8c4fdc3a5de715fa40a0a59f4426b19539e3f1954ae4 +size 30480 diff --git a/teleoperation/pick_and_place_baozi/0013/sim/state.json b/teleoperation/pick_and_place_baozi/0013/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..b58554738134f28b350a0970c1032bcea2fe63b5 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0013/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0013", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 586, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0013", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004624457214958966, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0013/sim/state.npy b/teleoperation/pick_and_place_baozi/0013/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..fd8ae240375a0c0c85f828b86e8ef5b95fe447f9 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0013/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14e390f0f87ca24e7e31b9c83c3eeab625016d512d83ef87a9bd5627c1b1a51c +size 32944 diff --git a/teleoperation/pick_and_place_baozi/0014/sim/state.json b/teleoperation/pick_and_place_baozi/0014/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..05da1fbb96a2e4ecbfef4f49fb618ce940fa4721 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0014/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0014", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 600, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0014", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.003289590124040842, + "max_abs_arm_12d": 0.003289590124040842, + "rms_14d": 0.0004629491304513067, + "rms_arm_12d": 4.422393976710737e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0014/sim/state.npy b/teleoperation/pick_and_place_baozi/0014/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eafa7abcd847550ed8cc8a05849a1d51daeb35d --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0014/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ce3ba44c218cb2ae1fd761a8ec69c31a186cfd60e6b5dca8cf9158cfdbbb4a9 +size 33728 diff --git a/teleoperation/pick_and_place_baozi/0015/sim/state.json b/teleoperation/pick_and_place_baozi/0015/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..a7bf8043b735a367496b23994cf541ccbf8a1cec --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0015/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0015", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 517, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0015", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0001907878613565117, + "rms_14d": 0.0004619134124368429, + "rms_arm_12d": 2.5120073132711696e-06 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0015/sim/state.npy b/teleoperation/pick_and_place_baozi/0015/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..54c37ef6999f6e1619eb4ce4c121ca9cbd60f570 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0015/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:933890f9fa86df726e74b18b40eb5e7e71f85edd772bffe1879567b09b344a17 +size 29080 diff --git a/teleoperation/pick_and_place_baozi/0016/sim/state.json b/teleoperation/pick_and_place_baozi/0016/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..4559844571a6c110f844ec6e30d02d95e5583fd7 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0016/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0016", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 568, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0016", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0028927884995937347, + "max_abs_arm_12d": 0.0028927884995937347, + "rms_14d": 0.0004613068304024637, + "rms_arm_12d": 3.597401155275293e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0016/sim/state.npy b/teleoperation/pick_and_place_baozi/0016/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..4807ee01e406b65fdbb8c49b8d1fe366d6424bdf --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0016/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0847fab62b649f9f578e13b18607d01d36bc6764a065b173c584cddb8b4be8ad +size 31936 diff --git a/teleoperation/pick_and_place_baozi/0017/sim/state.json b/teleoperation/pick_and_place_baozi/0017/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..433b91b35fcfa6cc8601515f42629d5b0bfa242f --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0017/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0017", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 579, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0017", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004600987012963742, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0017/sim/state.npy b/teleoperation/pick_and_place_baozi/0017/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..9b089a4fa35ddf3780dd311fbfdeaef63e5918a1 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0017/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb4e2177e31c51bd836788295f2c8d66908e868132f48bd09a6ccc083b525926 +size 32552 diff --git a/teleoperation/pick_and_place_baozi/0018/sim/state.json b/teleoperation/pick_and_place_baozi/0018/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..67872eee4721a9e94d5f952bb04baba9169661ee --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0018/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0018", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 646, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0018", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005416151834651828, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0018/sim/state.npy b/teleoperation/pick_and_place_baozi/0018/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f3790d2541142d647e3f9e69ee5d8d0e92d8511b --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0018/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74caf07b6beeaa33c061eac8a6f4a1b58b02eca1aa675fdfb44479af2031de7a +size 36304 diff --git a/teleoperation/pick_and_place_baozi/0019/sim/state.json b/teleoperation/pick_and_place_baozi/0019/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..5cb7b76824f28b42d7b1cf7ca9bd7c1b4e78b436 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0019/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0019", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 541, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0019", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005322683718986809, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0019/sim/state.npy b/teleoperation/pick_and_place_baozi/0019/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..233a07a643bcf1e2c41c4e758bc7734d58156f1c --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0019/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd451d88da9d4b95dddabf16cbadd1cbf24361d8afdc84ba56d5501fa18d1bb3 +size 30424 diff --git a/teleoperation/pick_and_place_baozi/0020/sim/state.json b/teleoperation/pick_and_place_baozi/0020/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1583aa2d5f5c5758c3317c90b6aa3333861c3c0a --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0020/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0020", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 513, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0020", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.002514292486011982, + "max_abs_arm_12d": 0.002514292486011982, + "rms_14d": 0.0005541326245293021, + "rms_arm_12d": 3.248581197112799e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0020/sim/state.npy b/teleoperation/pick_and_place_baozi/0020/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..79d49b682a1ffc5bd302f54fb8bfa30233887184 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0020/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:438aef13e1f8b43db327b6f74c5ab8074d849963d72c82274e41553a4b7d0705 +size 28856 diff --git a/teleoperation/pick_and_place_baozi/0021/sim/state.json b/teleoperation/pick_and_place_baozi/0021/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..b1c488c2965da5a660913f3de76e7195cb981f9c --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0021/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0021", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 551, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0021", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0021388125605881214, + "max_abs_arm_12d": 0.0021388125605881214, + "rms_14d": 0.0005421527894213796, + "rms_arm_12d": 2.6385107048554346e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0021/sim/state.npy b/teleoperation/pick_and_place_baozi/0021/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..09f5c93bf3dd5a9ffe0f34e42c45c450261e5a28 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0021/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3614769c21e8ee4ec67cd9c7ad10573cd000665a9a0e973b5a1476b467a6ea0a +size 30984 diff --git a/teleoperation/pick_and_place_baozi/0022/sim/state.json b/teleoperation/pick_and_place_baozi/0022/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..76de5aa562eff43a4ff18895d8a0cb2654fe4168 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0022/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0022", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 550, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0022", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006005727336741984, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0026/sim/state.npy b/teleoperation/pick_and_place_baozi/0026/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..14ba1503801cb71ebadd5afcdd4c3f7332cafa71 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0026/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df2c273d40709d6b57400eadfc33e452522d4d64df3ec07df04b535d1e656b60 +size 30760 diff --git a/teleoperation/pick_and_place_baozi/0027/sim/state.json b/teleoperation/pick_and_place_baozi/0027/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1b5c3ae1f2349a5b94c687274f5e6aefa7b8ac --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0027/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0027", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 621, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0027", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004750207008328289, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0027/sim/state.npy b/teleoperation/pick_and_place_baozi/0027/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..557c5fc8fb0bd1635c25ccf5a500ea02a34df316 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0027/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ea6b5359ff2c20f9513ba806288a3cad30049cc0fbf47ab072680abb298e21e +size 34904 diff --git a/teleoperation/pick_and_place_baozi/0028/sim/state.json b/teleoperation/pick_and_place_baozi/0028/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..f08152c1ddf214a5772bb6e3647f2c0e0fb52610 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0028/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0028", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 651, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0028", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0017489655874669552, + "rms_14d": 0.0005291700945235789, + "rms_arm_12d": 2.0041958123329096e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0028/sim/state.npy b/teleoperation/pick_and_place_baozi/0028/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..e81ee1df2cb4e9a9da2c199f5f64f849f9c4814e --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0028/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60a3c7d2f07f630be0451e943f833c1ccfaa4f9a96495fc2bba49842766c5a6b +size 36584 diff --git a/teleoperation/pick_and_place_baozi/0029/sim/state.json b/teleoperation/pick_and_place_baozi/0029/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..35a2bdf107cdb2fea7b51c91ad0a375ca1c2cab8 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0029/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0029", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 592, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0029", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004875017621088773, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0029/sim/state.npy b/teleoperation/pick_and_place_baozi/0029/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..c5a43e9b804bba593def47ced75c33f097525d1a --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0029/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fe447b5b4af4b5b36f9edcf819a350797e18751ae872f17e01470313190de96 +size 33280 diff --git a/teleoperation/pick_and_place_baozi/0030/sim/state.json b/teleoperation/pick_and_place_baozi/0030/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..f63fdb87f305ea07e846321cad86eb18e6552d1d --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0030/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0030", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 628, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0030", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0017349623376503587, + "rms_14d": 0.0005407005082815886, + "rms_arm_12d": 2.0479159502428956e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0030/sim/state.npy b/teleoperation/pick_and_place_baozi/0030/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..a78507ce6de3185542c838ed27a64cb67b3660b6 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0030/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d788a85fea4020b99ad0e4b64832fc6287a3b3ec798ae08e46c2a61f94a31c08 +size 35296 diff --git a/teleoperation/pick_and_place_baozi/0031/sim/state.json b/teleoperation/pick_and_place_baozi/0031/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..a6eaf1c37fe4ea502eec942ecbe569384c3e9c97 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0031/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0031", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 500, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0031", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0017217702697962523, + "rms_14d": 0.00045846099965274334, + "rms_arm_12d": 2.260746441606898e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0031/sim/state.npy b/teleoperation/pick_and_place_baozi/0031/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..393ddc4ab57778235d9a878b81a733fccc655b46 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0031/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e59f86b82f4297a3fd7c25f9c5788d417cfbe3c0dde0e4182aa8db7829f3fffa +size 28128 diff --git a/teleoperation/pick_and_place_baozi/0032/sim/state.json b/teleoperation/pick_and_place_baozi/0032/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..517d6f6616512e13ef7458557e17628c0873fdf3 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0032/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0032", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 465, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0032", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005118834087625146, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0036/sim/state.npy b/teleoperation/pick_and_place_baozi/0036/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..44d73c9bbbb16a578a4a0ab033a5239b81679a1d --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0036/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:632368919c06fc9a57134a29989460645d23291463958e20c698a6ff4c385998 +size 29864 diff --git a/teleoperation/pick_and_place_baozi/0037/sim/state.json b/teleoperation/pick_and_place_baozi/0037/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..75d7fa217c147243cd5f258dbbde1a273c6e2b04 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0037/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0037", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 566, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0037", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0036261137574911118, + "max_abs_arm_12d": 0.0036261137574911118, + "rms_14d": 0.0005785825778730214, + "rms_arm_12d": 4.45882324129343e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0037/sim/state.npy b/teleoperation/pick_and_place_baozi/0037/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..bc96fe216adb61357a728719b563df958fd1ccd3 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0037/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:722725fca6143ec25d601e16e87ea6a344736ed365adc4bbf9f27b03236d6585 +size 31824 diff --git a/teleoperation/pick_and_place_baozi/0038/sim/state.json b/teleoperation/pick_and_place_baozi/0038/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..9065bfe6baf542fc0f9b80c2342b55c5337d4822 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0038/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0038", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 573, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0038", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004656736855395138, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0038/sim/state.npy b/teleoperation/pick_and_place_baozi/0038/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..69849c0c21611174113acf37f6b115b5474a39f8 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0038/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d0f58ffec6288744450b1d92c5aa6df0c0178337bc795dc768afc005cf13910 +size 32216 diff --git a/teleoperation/pick_and_place_baozi/0039/sim/state.json b/teleoperation/pick_and_place_baozi/0039/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..321e738a885dd9651642d3a16731be79fd8a67c6 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0039/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0039", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 566, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0039", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004665246233344078, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0046/sim/state.npy b/teleoperation/pick_and_place_baozi/0046/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..ed742d8b198aab131d6798660fad085a4a1f96a2 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0046/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbeb3ddf851465f872347c9006919027d22ba7470a2621b2894ae46299e9e9a2 +size 27120 diff --git a/teleoperation/pick_and_place_baozi/0047/sim/state.json b/teleoperation/pick_and_place_baozi/0047/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..57b23d1056dc8faa177c848d97b208555dca934b --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0047/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0047", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 570, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0047", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0036395967472344637, + "max_abs_arm_12d": 0.0036395967472344637, + "rms_14d": 0.0004668349865823984, + "rms_arm_12d": 4.5018539822194725e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0047/sim/state.npy b/teleoperation/pick_and_place_baozi/0047/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..848a1650d6466243e53614cedc530a8af9a35ade --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0047/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5331129b463ad23ac660ddce4dd9afcc1b46232c5d8a827e7632253de0b00e8a +size 32048 diff --git a/teleoperation/pick_and_place_baozi/0048/sim/state.json b/teleoperation/pick_and_place_baozi/0048/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..bfffe61772ec7fae6639c9f11d7e0e61a2e6bf79 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0048/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0048", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 545, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0048", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.00046616437612101436, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0048/sim/state.npy b/teleoperation/pick_and_place_baozi/0048/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..2a976c58c54200cb87f51292aee378600e890974 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0048/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffedb58abd5f968d7e728ed98cb0189c0231d25c77bd79c1f9b851bc532f72ad +size 30648 diff --git a/teleoperation/pick_and_place_baozi/0049/sim/state.json b/teleoperation/pick_and_place_baozi/0049/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..5881b5d6f0811bd738c964937e35c0efe950cec3 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0049/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0049", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 572, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0049", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0004665137967094779, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_baozi/0049/sim/state.npy b/teleoperation/pick_and_place_baozi/0049/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..c091c3ff783f995bce35401d33c6429ee37bbd45 --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0049/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5467a49a2a55fdaff4fe7842b2aa870b6f6134187d3e4134f5497d68b316698e +size 32160 diff --git a/teleoperation/pick_and_place_baozi/0050/sim/state.json b/teleoperation/pick_and_place_baozi/0050/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..3c05e386bfe5387b5df48242448034f9cf72490f --- /dev/null +++ b/teleoperation/pick_and_place_baozi/0050/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0050", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 555, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0050", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.002521706745028496, + "max_abs_arm_12d": 0.002521706745028496, + "rms_14d": 0.00046701886458322406, + "rms_arm_12d": 3.150501652271487e-05 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0007/sim/state.npy b/teleoperation/pick_and_place_bread/0007/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..2ee17af1cefb6ba8c251d79c5073f2ecc74eb2ba --- /dev/null +++ b/teleoperation/pick_and_place_bread/0007/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddc73f9c1eaf0e2ad2e35d7c1844f8896c05c281ece262032da1f4aa26be920c +size 17712 diff --git a/teleoperation/pick_and_place_bread/0008/sim/state.json b/teleoperation/pick_and_place_bread/0008/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..8642a7955688cbd2cd1d11151a7fb83612c32a2f --- /dev/null +++ b/teleoperation/pick_and_place_bread/0008/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0008", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 332, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0008", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006029774085618556, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0008/sim/state.npy b/teleoperation/pick_and_place_bread/0008/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..ca410c95eff4e8254b3e6544ff174f109eecb909 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0008/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c26ae42b5a3f9a5143ceb0f7e9951c47b660fcebc00a829f1db9dd6aa5029e8 +size 18720 diff --git a/teleoperation/pick_and_place_bread/0009/sim/state.json b/teleoperation/pick_and_place_bread/0009/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..92d6264d803996458e2e80af0ae9531f41906b12 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0009/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0009", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 300, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0009", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006477454444393516, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0009/sim/state.npy b/teleoperation/pick_and_place_bread/0009/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..3c7a55abf5ad5a596395bda569b10ffd7f2e8896 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0009/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:192af5df7ebc3b18a8e609634bf49b375917bd734aed5f558e107b6366585db7 +size 16928 diff --git a/teleoperation/pick_and_place_bread/0010/sim/state.json b/teleoperation/pick_and_place_bread/0010/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..bf673104a0a91ad14c3742175f3c2632eeed9625 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0010/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0010", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 313, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0010", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006304803537204862, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0010/sim/state.npy b/teleoperation/pick_and_place_bread/0010/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..58d3248989ddafa41a7bae521a314d8ea8a7113a --- /dev/null +++ b/teleoperation/pick_and_place_bread/0010/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29ed02a658defa1dce864750bd85739a0c871c15c0436df811a75d639a806c1f +size 17656 diff --git a/teleoperation/pick_and_place_bread/0012/sim/state.json b/teleoperation/pick_and_place_bread/0012/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..0c6dcb09165f5a052bc4f346cec2813c2b74e681 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0012/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0012", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 391, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0012", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006214558961801231, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0012/sim/state.npy b/teleoperation/pick_and_place_bread/0012/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..ea1b82e481f34f73f8bf607b5cc199db6323acbd --- /dev/null +++ b/teleoperation/pick_and_place_bread/0012/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e3ce11efa0492ac6d614620e8a4f87c460fd656470454169757397d143e39c2 +size 22024 diff --git a/teleoperation/pick_and_place_bread/0013/sim/state.json b/teleoperation/pick_and_place_bread/0013/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..b71a5c000fd2d792b9ea3e5614bf7ce903e65ecb --- /dev/null +++ b/teleoperation/pick_and_place_bread/0013/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0013", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 275, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0013", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006551071419380605, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0013/sim/state.npy b/teleoperation/pick_and_place_bread/0013/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..9650129e1ca1f999fc6f89411af6ce0751757404 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0013/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dde014a8ad11a7e9bfedb1422534bb8c2c22a7ca3c62c23ee52e71f9511b9edb +size 15528 diff --git a/teleoperation/pick_and_place_bread/0014/sim/state.json b/teleoperation/pick_and_place_bread/0014/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..cb575c3001c07537d1eecbf574e333300b8a0218 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0014/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0014", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 292, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0014", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006486651836894453, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0014/sim/state.npy b/teleoperation/pick_and_place_bread/0014/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d1ca414fea5e2244b57115e40889203ad28c8562 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0014/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e2f66a30ff5f9867bbd5515c492e5121125147e5d5d34d0ac8d98de9193d890 +size 16480 diff --git a/teleoperation/pick_and_place_bread/0015/sim/state.json b/teleoperation/pick_and_place_bread/0015/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..b035b84ff798747de2b7f04313ca064d913cddba --- /dev/null +++ b/teleoperation/pick_and_place_bread/0015/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0015", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 306, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0015", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006470839725807309, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0018/sim/state.npy b/teleoperation/pick_and_place_bread/0018/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..dfa3cebe5d27e8517ca8977677ea14e7c81afdcb --- /dev/null +++ b/teleoperation/pick_and_place_bread/0018/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f14a8b275c66ba4015b8cd57a965da98e863e0161ac3235e09497ae64a36920b +size 22472 diff --git a/teleoperation/pick_and_place_bread/0019/sim/state.json b/teleoperation/pick_and_place_bread/0019/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..c6bb8dcb230184433e59f7ed9e8314a9d7da24f6 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0019/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0019", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 294, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0019", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006434901733882725, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0021/sim/state.npy b/teleoperation/pick_and_place_bread/0021/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..a78077ffb525ee98850fc7ae3c732f4041b78127 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0021/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54606e791f1944d95a81d312b4c0a519461b1535fa001d4ac3aaad836d64f941 +size 18944 diff --git a/teleoperation/pick_and_place_bread/0022/sim/state.json b/teleoperation/pick_and_place_bread/0022/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..8f48ed952c3ee5eeae8841fac4500b82e34bae50 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0022/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0022", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 394, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0022", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005742257344536483, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0023/sim/state.npy b/teleoperation/pick_and_place_bread/0023/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d647b126d07f33938b5ed23db01e8de7381fc9aa --- /dev/null +++ b/teleoperation/pick_and_place_bread/0023/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ac0e15f5729f58dbc4037e61de22dd28994ecaba4228532df7535951bb22f28 +size 19672 diff --git a/teleoperation/pick_and_place_bread/0024/sim/state.json b/teleoperation/pick_and_place_bread/0024/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1364b01e7755494ca59399d631aca4faaed54abf --- /dev/null +++ b/teleoperation/pick_and_place_bread/0024/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0024", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 310, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0024", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0013419725000858307, + "rms_14d": 0.0006576942396350205, + "rms_arm_12d": 2.213574043707922e-05 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0029/sim/state.npy b/teleoperation/pick_and_place_bread/0029/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..d812dfa1126ec0c5b0f587827af38ccc022bddc6 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0029/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20328cfac06e0a53e155492519055c5a3f74e91685ec8589365ccbbaf7a06707 +size 17040 diff --git a/teleoperation/pick_and_place_bread/0030/sim/state.json b/teleoperation/pick_and_place_bread/0030/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..67a995d5bfeed43ebbf2d90b81c6db702922f0ce --- /dev/null +++ b/teleoperation/pick_and_place_bread/0030/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0030", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 331, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0030", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006549663376063108, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0030/sim/state.npy b/teleoperation/pick_and_place_bread/0030/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..b97c3c5becde496b93296906518fb78c15b6b4a8 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0030/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ac4c6e44dda848864eb35b7ef341eae3d0d8fc188ee921923f030e0331cdc5a +size 18664 diff --git a/teleoperation/pick_and_place_bread/0031/sim/state.json b/teleoperation/pick_and_place_bread/0031/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..1e12af575775c85f01945e2bf8382b72a3ae214f --- /dev/null +++ b/teleoperation/pick_and_place_bread/0031/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0031", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 362, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0031", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006364969885908067, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0031/sim/state.npy b/teleoperation/pick_and_place_bread/0031/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..30524a48c2304f62944b67ae20bdf144c83c578f --- /dev/null +++ b/teleoperation/pick_and_place_bread/0031/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9e3cc76fcc31d7bce22a90e8192a13d78ba976fe620ad9c24017c5774dab821 +size 20400 diff --git a/teleoperation/pick_and_place_bread/0032/sim/state.json b/teleoperation/pick_and_place_bread/0032/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..83f7158ae14f309c4b5b2445a456438cbdb8cde0 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0032/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0032", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 331, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0032", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0021040737628936768, + "max_abs_arm_12d": 0.0009558987803757191, + "rms_14d": 0.0006565741496160626, + "rms_arm_12d": 1.5431409337907098e-05 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0032/sim/state.npy b/teleoperation/pick_and_place_bread/0032/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..bb4c58254c64c80b48649386cd1ee33687a909f9 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0032/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:123609bbdd65332a247fc291ba845166a73f2a68668c7433fcceccea12b577f2 +size 18664 diff --git a/teleoperation/pick_and_place_bread/0033/sim/state.json b/teleoperation/pick_and_place_bread/0033/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..a9768653494dff0b3aa7081079e9962e9cddefa7 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0033/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0033", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 306, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0033", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006413031369447708, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0033/sim/state.npy b/teleoperation/pick_and_place_bread/0033/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..3d4b726170eab0470b749670367b149218137317 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0033/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f0d1aeb8e4e5efa61973633c74510576f260ff5504ab2b94c3a25a0a2e7f017 +size 17264 diff --git a/teleoperation/pick_and_place_bread/0034/sim/state.json b/teleoperation/pick_and_place_bread/0034/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..072327aa28ae78ff8a883a93e70989d50865ce47 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0034/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0034", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 330, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0034", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006385478773154318, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0034/sim/state.npy b/teleoperation/pick_and_place_bread/0034/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..e0411c95b8376b42f54be25886b17715598e4f9c --- /dev/null +++ b/teleoperation/pick_and_place_bread/0034/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ad595349df8e9f4b55ff9262d16f001d6ded1f1544d11fb6a29395054f1cf31 +size 18608 diff --git a/teleoperation/pick_and_place_bread/0035/sim/state.json b/teleoperation/pick_and_place_bread/0035/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..004717ce199f12c8e161ca9fe70fd1d057dbfe4e --- /dev/null +++ b/teleoperation/pick_and_place_bread/0035/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0035", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 289, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0035", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006372525822371244, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0035/sim/state.npy b/teleoperation/pick_and_place_bread/0035/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..176c2cc9aaed37dd73de21978b7345b7289ba6bb --- /dev/null +++ b/teleoperation/pick_and_place_bread/0035/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6d214fab5961ac7164251895cc9784e23da8d955b87c96a2a76b40bae84be7c +size 16312 diff --git a/teleoperation/pick_and_place_bread/0036/sim/state.json b/teleoperation/pick_and_place_bread/0036/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..250b757c26f305dd4391328b50f23213c97f94d8 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0036/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0036", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 344, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0036", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006541685434058309, + "rms_arm_12d": 0.0 + }, + "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0036/sim/state.npy b/teleoperation/pick_and_place_bread/0036/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..5ab4728ad174d5bb2aa15638ed8e1ea0713fe4c9 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0036/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a5d64962a2d12e63a38fec59a5759c4480994c7bd7c268ba5946d231362bb72 +size 19392 diff --git a/teleoperation/pick_and_place_bread/0040/sim/state.json b/teleoperation/pick_and_place_bread/0040/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..73ba0e79fcffd30076f3187d6650c1a76ca910cf --- /dev/null +++ b/teleoperation/pick_and_place_bread/0040/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0040", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 314, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0040", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005572910304181278, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0046/sim/state.npy b/teleoperation/pick_and_place_bread/0046/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..a1dc586ed4e046ddc63d021e8ef8dd74106032a0 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0046/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e576c74adb8ee4ff8b3918ecd683999d09f9b9bd72fbea9bceb68269ec98229 +size 17320 diff --git a/teleoperation/pick_and_place_bread/0047/sim/state.json b/teleoperation/pick_and_place_bread/0047/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..fcba3d9b6d419d890d483244be1f9e1f1cb3105c --- /dev/null +++ b/teleoperation/pick_and_place_bread/0047/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0047", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 348, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0047", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0005750093259848654, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13" +} diff --git a/teleoperation/pick_and_place_bread/0071/sim/state.npy b/teleoperation/pick_and_place_bread/0071/sim/state.npy new file mode 100644 index 0000000000000000000000000000000000000000..f2478dbb9ee02c124d3df672c4e76d8db9815454 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0071/sim/state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b21947270d468b49af10b8f5780e455772f75fbb1650ca27dfaa02c5346c841 +size 16704 diff --git a/teleoperation/pick_and_place_bread/0072/sim/state.json b/teleoperation/pick_and_place_bread/0072/sim/state.json new file mode 100644 index 0000000000000000000000000000000000000000..f090eb5cd87c7e2839222fcc4dbaeb734f4b6063 --- /dev/null +++ b/teleoperation/pick_and_place_bread/0072/sim/state.json @@ -0,0 +1,46 @@ +{ + "driven_by": "action", + "dtype": "float32", + "episode": "0072", + "fields": { + "left_gripper": [ + 6 + ], + "left_joint1..6": [ + 0, + 1, + 2, + 3, + 4, + 5 + ], + "right_gripper": [ + 13 + ], + "right_joint1..6": [ + 7, + 8, + 9, + 10, + 11, + 12 + ] + }, + "fps": 30, + "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0", + "sample_timing": "after_controller_target_and_simulation_update", + "schema_version": 1, + "shape": [ + 303, + 14 + ], + "source": "isaac_articulation_get_joint_positions", + "source_episode": "0072", + "tracking_error_vs_action_target": { + "max_abs_14d": 0.0020999982953071594, + "max_abs_arm_12d": 0.0, + "rms_14d": 0.0006545278592966497, + "rms_arm_12d": 0.0 + }, + "units": "radians; 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