Hugging Face's logo

Datasets:
dual-sim
/
data

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Size:
< 1K
Tags:
robotics
manipulation
lerobot
agibot-world
dual-arm
simulation
License:
Dataset card Data Studio Files
xet
 Community
4
hzk-lab commited on
Commit
ec314cc
·
verified ·
1 Parent(s): e902e26

sim: catch_and_place / catch_and_place_banana / pick_and_place_banana / pick_and_place_bread -- action-driven renders, base mask, simulated state

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. teleoperation/V2/catch_and_place/0004/sim/base.mp4 +3 -0
  2. teleoperation/V2/catch_and_place/0004/sim/base_mask.mp4 +3 -0
  3. teleoperation/V2/catch_and_place/0004/sim/left.mp4 +3 -0
  4. teleoperation/V2/catch_and_place/0004/sim/right.mp4 +3 -0
  5. teleoperation/V2/catch_and_place/0004/sim/state.json +47 -0
  6. teleoperation/V2/catch_and_place/0004/sim/state.npy +3 -0
  7. teleoperation/V2/catch_and_place/0007/sim/base.mp4 +3 -0
  8. teleoperation/V2/catch_and_place/0007/sim/base_mask.mp4 +3 -0
  9. teleoperation/V2/catch_and_place/0007/sim/left.mp4 +3 -0
  10. teleoperation/V2/catch_and_place/0007/sim/right.mp4 +3 -0
  11. teleoperation/V2/catch_and_place/0007/sim/state.json +47 -0
  12. teleoperation/V2/catch_and_place/0007/sim/state.npy +3 -0
  13. teleoperation/V2/catch_and_place/0012/sim/base.mp4 +3 -0
  14. teleoperation/V2/catch_and_place/0012/sim/base_mask.mp4 +3 -0
  15. teleoperation/V2/catch_and_place/0012/sim/left.mp4 +3 -0
  16. teleoperation/V2/catch_and_place/0012/sim/right.mp4 +3 -0
  17. teleoperation/V2/catch_and_place/0012/sim/state.json +47 -0
  18. teleoperation/V2/catch_and_place/0012/sim/state.npy +3 -0
  19. teleoperation/V2/catch_and_place/0013/sim/base.mp4 +3 -0
  20. teleoperation/V2/catch_and_place/0013/sim/base_mask.mp4 +3 -0
  21. teleoperation/V2/catch_and_place/0013/sim/left.mp4 +3 -0
  22. teleoperation/V2/catch_and_place/0013/sim/right.mp4 +3 -0
  23. teleoperation/V2/catch_and_place/0013/sim/state.json +47 -0
  24. teleoperation/V2/catch_and_place/0013/sim/state.npy +3 -0
  25. teleoperation/V2/catch_and_place/0014/sim/base.mp4 +3 -0
  26. teleoperation/V2/catch_and_place/0014/sim/base_mask.mp4 +3 -0
  27. teleoperation/V2/catch_and_place/0014/sim/left.mp4 +3 -0
  28. teleoperation/V2/catch_and_place/0014/sim/right.mp4 +3 -0
  29. teleoperation/V2/catch_and_place/0014/sim/state.json +47 -0
  30. teleoperation/V2/catch_and_place/0014/sim/state.npy +3 -0
  31. teleoperation/V2/catch_and_place/0015/sim/base.mp4 +3 -0
  32. teleoperation/V2/catch_and_place/0015/sim/base_mask.mp4 +3 -0
  33. teleoperation/V2/catch_and_place/0015/sim/left.mp4 +3 -0
  34. teleoperation/V2/catch_and_place/0015/sim/right.mp4 +3 -0
  35. teleoperation/V2/catch_and_place/0015/sim/state.json +47 -0
  36. teleoperation/V2/catch_and_place/0015/sim/state.npy +3 -0
  37. teleoperation/V2/catch_and_place/0017/sim/base.mp4 +3 -0
  38. teleoperation/V2/catch_and_place/0017/sim/base_mask.mp4 +3 -0
  39. teleoperation/V2/catch_and_place/0017/sim/left.mp4 +3 -0
  40. teleoperation/V2/catch_and_place/0017/sim/right.mp4 +3 -0
  41. teleoperation/V2/catch_and_place/0017/sim/state.json +47 -0
  42. teleoperation/V2/catch_and_place/0017/sim/state.npy +3 -0
  43. teleoperation/V2/catch_and_place/0018/sim/base.mp4 +3 -0
  44. teleoperation/V2/catch_and_place/0018/sim/base_mask.mp4 +3 -0
  45. teleoperation/V2/catch_and_place/0018/sim/left.mp4 +3 -0
  46. teleoperation/V2/catch_and_place/0018/sim/right.mp4 +3 -0
  47. teleoperation/V2/catch_and_place/0018/sim/state.json +47 -0
  48. teleoperation/V2/catch_and_place/0018/sim/state.npy +3 -0
  49. teleoperation/V2/catch_and_place/0019/sim/base.mp4 +3 -0
  50. teleoperation/V2/catch_and_place/0019/sim/base_mask.mp4 +3 -0
teleoperation/V2/catch_and_place/0004/sim/base.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d450d0ced9d1ca1bcfa578aa6f5c30d8a135b26960a79326ba291c88cbaa79b2
3
+ size 468398
teleoperation/V2/catch_and_place/0004/sim/base_mask.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:26a85d4a43798c136094c8a706daffa492558f7335c697f4374ee751f31eaacb
3
+ size 252827
teleoperation/V2/catch_and_place/0004/sim/left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8aab4cf7f200866512defa13284049e9ca9761c950a16369ec1bfd3cecbc34a3
3
+ size 278386
teleoperation/V2/catch_and_place/0004/sim/right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d78710638577bf37f07818efd9cc58611466f051abc6767b415dc2ac00039492
3
+ size 234437
teleoperation/V2/catch_and_place/0004/sim/state.json ADDED
@@ -0,0 +1,47 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "driven_by": "action",
3
+ "dtype": "float32",
4
+ "episode": "0004",
5
+ "fields": {
6
+ "left_gripper": [
7
+ 6
8
+ ],
9
+ "left_joint1..6": [
10
+ 0,
11
+ 1,
12
+ 2,
13
+ 3,
14
+ 4,
15
+ 5
16
+ ],
17
+ "right_gripper": [
18
+ 13
19
+ ],
20
+ "right_joint1..6": [
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12
27
+ ]
28
+ },
29
+ "fps": 30,
30
+ "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0",
31
+ "sample_timing": "after_controller_target_and_simulation_update",
32
+ "schema_version": 1,
33
+ "shape": [
34
+ 778,
35
+ 14
36
+ ],
37
+ "source": "isaac_articulation_get_joint_positions",
38
+ "source_episode": "0004",
39
+ "source_task": "V2/catch_and_place",
40
+ "tracking_error_vs_action_target": {
41
+ "max_abs_14d": 0.0020999982953071594,
42
+ "max_abs_arm_12d": 0.0,
43
+ "rms_14d": 0.0006434712558984756,
44
+ "rms_arm_12d": 0.0
45
+ },
46
+ "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13"
47
+ }
teleoperation/V2/catch_and_place/0004/sim/state.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a225c5f1110c58ad356a4a652d9f1948c9b4d8f8438cc4d0b6d54696b8ee1f7a
3
+ size 43696
teleoperation/V2/catch_and_place/0007/sim/base.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b0f6ba09f49622181da197e6664e15b08f054e4441617dd735eb40f0056368f9
3
+ size 521248
teleoperation/V2/catch_and_place/0007/sim/base_mask.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b408992c4e8c57f8b92a96811dc79c076cb32c269c790f6f029d433b399bdd4e
3
+ size 293915
teleoperation/V2/catch_and_place/0007/sim/left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c8e6b4ab2b7ad884289e836929e725a0e88a85466b4ca56932cf59256f048f93
3
+ size 229909
teleoperation/V2/catch_and_place/0007/sim/right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:572467d5302acf238c7791fe719211e74e2c12f450f3627ab387cc77ece60469
3
+ size 190561
teleoperation/V2/catch_and_place/0007/sim/state.json ADDED
@@ -0,0 +1,47 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "driven_by": "action",
3
+ "dtype": "float32",
4
+ "episode": "0007",
5
+ "fields": {
6
+ "left_gripper": [
7
+ 6
8
+ ],
9
+ "left_joint1..6": [
10
+ 0,
11
+ 1,
12
+ 2,
13
+ 3,
14
+ 4,
15
+ 5
16
+ ],
17
+ "right_gripper": [
18
+ 13
19
+ ],
20
+ "right_joint1..6": [
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12
27
+ ]
28
+ },
29
+ "fps": 30,
30
+ "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0",
31
+ "sample_timing": "after_controller_target_and_simulation_update",
32
+ "schema_version": 1,
33
+ "shape": [
34
+ 887,
35
+ 14
36
+ ],
37
+ "source": "isaac_articulation_get_joint_positions",
38
+ "source_episode": "0007",
39
+ "source_task": "V2/catch_and_place",
40
+ "tracking_error_vs_action_target": {
41
+ "max_abs_14d": 0.0020999982953071594,
42
+ "max_abs_arm_12d": 0.0,
43
+ "rms_14d": 0.0006461423472501338,
44
+ "rms_arm_12d": 0.0
45
+ },
46
+ "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13"
47
+ }
teleoperation/V2/catch_and_place/0007/sim/state.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:303ae91b44d059e1d0382fc7a92c7d7f8df528772d41cee2f390c21190063999
3
+ size 49800
teleoperation/V2/catch_and_place/0012/sim/base.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3b58a065217e5e7cc7037107c3f629f3456abeede825cdac22fd99f39c16c705
3
+ size 469339
teleoperation/V2/catch_and_place/0012/sim/base_mask.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c86545b052513194db8239270c82cdb6512c19d30c054db345662cf9be29fb0e
3
+ size 252660
teleoperation/V2/catch_and_place/0012/sim/left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a2c43f6301baa8f769a691ed4c257219c4f691f37eeb71bac592ebc866438d32
3
+ size 259135
teleoperation/V2/catch_and_place/0012/sim/right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ad4fe1d5d764187e6655edf22580d3ee4a3cc592c1dcebf5aba8dea2c71843d
3
+ size 353895
teleoperation/V2/catch_and_place/0012/sim/state.json ADDED
@@ -0,0 +1,47 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "driven_by": "action",
3
+ "dtype": "float32",
4
+ "episode": "0012",
5
+ "fields": {
6
+ "left_gripper": [
7
+ 6
8
+ ],
9
+ "left_joint1..6": [
10
+ 0,
11
+ 1,
12
+ 2,
13
+ 3,
14
+ 4,
15
+ 5
16
+ ],
17
+ "right_gripper": [
18
+ 13
19
+ ],
20
+ "right_joint1..6": [
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12
27
+ ]
28
+ },
29
+ "fps": 30,
30
+ "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0",
31
+ "sample_timing": "after_controller_target_and_simulation_update",
32
+ "schema_version": 1,
33
+ "shape": [
34
+ 786,
35
+ 14
36
+ ],
37
+ "source": "isaac_articulation_get_joint_positions",
38
+ "source_episode": "0012",
39
+ "source_task": "V2/catch_and_place",
40
+ "tracking_error_vs_action_target": {
41
+ "max_abs_14d": 0.0020999982953071594,
42
+ "max_abs_arm_12d": 0.0,
43
+ "rms_14d": 0.0004380056925583631,
44
+ "rms_arm_12d": 0.0
45
+ },
46
+ "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13"
47
+ }
teleoperation/V2/catch_and_place/0012/sim/state.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:336bf15b346a190d9aaa3c48dad19baa14a418df466828937e2b479874e90fd9
3
+ size 44144
teleoperation/V2/catch_and_place/0013/sim/base.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0b78685bcad4e70d3cc97d34028f3013290a0a526ebc3ac9a89e6ad286bff95a
3
+ size 445961
teleoperation/V2/catch_and_place/0013/sim/base_mask.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a842444c5e01902ace80b739bd5ee544c7663a7b87e7e9e0e42988533b6bd84f
3
+ size 231706
teleoperation/V2/catch_and_place/0013/sim/left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4e73d8ffe5be70b2506a59ba8bc43a243141f45299ef03f49abe72c0a279550
3
+ size 221788
teleoperation/V2/catch_and_place/0013/sim/right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cd8153b579f613e322655559c28b2ca6324bc5c2ac2ab01afe4c281d201e4168
3
+ size 443147
teleoperation/V2/catch_and_place/0013/sim/state.json ADDED
@@ -0,0 +1,47 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "driven_by": "action",
3
+ "dtype": "float32",
4
+ "episode": "0013",
5
+ "fields": {
6
+ "left_gripper": [
7
+ 6
8
+ ],
9
+ "left_joint1..6": [
10
+ 0,
11
+ 1,
12
+ 2,
13
+ 3,
14
+ 4,
15
+ 5
16
+ ],
17
+ "right_gripper": [
18
+ 13
19
+ ],
20
+ "right_joint1..6": [
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12
27
+ ]
28
+ },
29
+ "fps": 30,
30
+ "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0",
31
+ "sample_timing": "after_controller_target_and_simulation_update",
32
+ "schema_version": 1,
33
+ "shape": [
34
+ 904,
35
+ 14
36
+ ],
37
+ "source": "isaac_articulation_get_joint_positions",
38
+ "source_episode": "0013",
39
+ "source_task": "V2/catch_and_place",
40
+ "tracking_error_vs_action_target": {
41
+ "max_abs_14d": 0.0020999982953071594,
42
+ "max_abs_arm_12d": 0.0,
43
+ "rms_14d": 0.0004713881353382021,
44
+ "rms_arm_12d": 0.0
45
+ },
46
+ "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13"
47
+ }
teleoperation/V2/catch_and_place/0013/sim/state.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4832952ce2c868794bb51fc913a87cd4539c8469a88053d942f29d9dabc550a8
3
+ size 50752
teleoperation/V2/catch_and_place/0014/sim/base.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c88715e0295759749b57a12b33f0afde39165cd6984464b4ac53af23c80cf9ac
3
+ size 416499
teleoperation/V2/catch_and_place/0014/sim/base_mask.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3ae90fe5168b6eb88854a13bbba546c4d06767559528e6669a15a9d8170e0af4
3
+ size 225635
teleoperation/V2/catch_and_place/0014/sim/left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2b4bb3d2db811d0d2bb125354074df05419b069d014ab77c5e21ec38712864f
3
+ size 261431
teleoperation/V2/catch_and_place/0014/sim/right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43256739250affcc59107f5380cb43ec282355886260393128ff6990fe9dbb12
3
+ size 422430
teleoperation/V2/catch_and_place/0014/sim/state.json ADDED
@@ -0,0 +1,47 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "driven_by": "action",
3
+ "dtype": "float32",
4
+ "episode": "0014",
5
+ "fields": {
6
+ "left_gripper": [
7
+ 6
8
+ ],
9
+ "left_joint1..6": [
10
+ 0,
11
+ 1,
12
+ 2,
13
+ 3,
14
+ 4,
15
+ 5
16
+ ],
17
+ "right_gripper": [
18
+ 13
19
+ ],
20
+ "right_joint1..6": [
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12
27
+ ]
28
+ },
29
+ "fps": 30,
30
+ "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0",
31
+ "sample_timing": "after_controller_target_and_simulation_update",
32
+ "schema_version": 1,
33
+ "shape": [
34
+ 704,
35
+ 14
36
+ ],
37
+ "source": "isaac_articulation_get_joint_positions",
38
+ "source_episode": "0014",
39
+ "source_task": "V2/catch_and_place",
40
+ "tracking_error_vs_action_target": {
41
+ "max_abs_14d": 0.0020999982953071594,
42
+ "max_abs_arm_12d": 0.0,
43
+ "rms_14d": 0.00043819029815495014,
44
+ "rms_arm_12d": 0.0
45
+ },
46
+ "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13"
47
+ }
teleoperation/V2/catch_and_place/0014/sim/state.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a9bc4f6f0acd5c702ac8ede0320251eca88ece3be6964ecdd3911b1fa5622561
3
+ size 39552
teleoperation/V2/catch_and_place/0015/sim/base.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b6bb9632d3c809678dc73463c9e9c4db6da412c1ea7e3bafd10635c9db8a1657
3
+ size 487290
teleoperation/V2/catch_and_place/0015/sim/base_mask.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f99ef89a52b979b2abe26c9ab8df7ed4eec61e4c0fe4aa996caeff45374901c3
3
+ size 258772
teleoperation/V2/catch_and_place/0015/sim/left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b737f268fff94a5733cda1ec4c3cd3363e1146972f39b1dd795ffef59ce30436
3
+ size 310205
teleoperation/V2/catch_and_place/0015/sim/right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9cdec6b50305a45b3ba4fb38475cd4812c178368174e155cb4c7be51e9be18e0
3
+ size 334155
teleoperation/V2/catch_and_place/0015/sim/state.json ADDED
@@ -0,0 +1,47 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "driven_by": "action",
3
+ "dtype": "float32",
4
+ "episode": "0015",
5
+ "fields": {
6
+ "left_gripper": [
7
+ 6
8
+ ],
9
+ "left_joint1..6": [
10
+ 0,
11
+ 1,
12
+ 2,
13
+ 3,
14
+ 4,
15
+ 5
16
+ ],
17
+ "right_gripper": [
18
+ 13
19
+ ],
20
+ "right_joint1..6": [
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12
27
+ ]
28
+ },
29
+ "fps": 30,
30
+ "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0",
31
+ "sample_timing": "after_controller_target_and_simulation_update",
32
+ "schema_version": 1,
33
+ "shape": [
34
+ 777,
35
+ 14
36
+ ],
37
+ "source": "isaac_articulation_get_joint_positions",
38
+ "source_episode": "0015",
39
+ "source_task": "V2/catch_and_place",
40
+ "tracking_error_vs_action_target": {
41
+ "max_abs_14d": 0.0020999982953071594,
42
+ "max_abs_arm_12d": 0.0,
43
+ "rms_14d": 0.0004233084328006953,
44
+ "rms_arm_12d": 0.0
45
+ },
46
+ "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13"
47
+ }
teleoperation/V2/catch_and_place/0015/sim/state.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a9ba1af88644fd756597b9fff0678f1ce33634c7b5a964170d6f530452416ba1
3
+ size 43640
teleoperation/V2/catch_and_place/0017/sim/base.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8e9d4cfb3c5a6828651c9d87c5e913b77dfcdd624f093a6b20eff9729f951955
3
+ size 512968
teleoperation/V2/catch_and_place/0017/sim/base_mask.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a8adb5c1edee706143bafb0ebcc31c543cfc24d99704d27d59b181ac9c3e4ecc
3
+ size 276272
teleoperation/V2/catch_and_place/0017/sim/left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:730ac0a26b97302cef02bb08f1a910b13dd6106881d4831931aaef5630a23192
3
+ size 307591
teleoperation/V2/catch_and_place/0017/sim/right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f8c972644eb993201e0897fdd2671fe91f3a5aa99b7e3760f450b5887e924d10
3
+ size 405431
teleoperation/V2/catch_and_place/0017/sim/state.json ADDED
@@ -0,0 +1,47 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "driven_by": "action",
3
+ "dtype": "float32",
4
+ "episode": "0017",
5
+ "fields": {
6
+ "left_gripper": [
7
+ 6
8
+ ],
9
+ "left_joint1..6": [
10
+ 0,
11
+ 1,
12
+ 2,
13
+ 3,
14
+ 4,
15
+ 5
16
+ ],
17
+ "right_gripper": [
18
+ 13
19
+ ],
20
+ "right_joint1..6": [
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12
27
+ ]
28
+ },
29
+ "fps": 30,
30
+ "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0",
31
+ "sample_timing": "after_controller_target_and_simulation_update",
32
+ "schema_version": 1,
33
+ "shape": [
34
+ 823,
35
+ 14
36
+ ],
37
+ "source": "isaac_articulation_get_joint_positions",
38
+ "source_episode": "0017",
39
+ "source_task": "V2/catch_and_place",
40
+ "tracking_error_vs_action_target": {
41
+ "max_abs_14d": 0.0020999982953071594,
42
+ "max_abs_arm_12d": 0.0,
43
+ "rms_14d": 0.000443997181719169,
44
+ "rms_arm_12d": 0.0
45
+ },
46
+ "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13"
47
+ }
teleoperation/V2/catch_and_place/0017/sim/state.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0261f703c2b1a9cddb51f3ab2a28c7fcfe4d649097659e5f574b3c193aac09b4
3
+ size 46216
teleoperation/V2/catch_and_place/0018/sim/base.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4ce3d40555129252b639af19e656a2233fb52e99922f35b845653db25e79bf0a
3
+ size 419211
teleoperation/V2/catch_and_place/0018/sim/base_mask.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb251945b5fc790a87d868d0b785610bf7396b4c0dace9327d52915fdcfa1c82
3
+ size 216971
teleoperation/V2/catch_and_place/0018/sim/left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6616759556648e16051549f3acfec5b30467826a9aaa772cfb9bd7e1aa7deb07
3
+ size 271939
teleoperation/V2/catch_and_place/0018/sim/right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:90b8e8f791676abd2ccd9a704fe531a0e3fd17228c126d9dc37c1d621522623a
3
+ size 346975
teleoperation/V2/catch_and_place/0018/sim/state.json ADDED
@@ -0,0 +1,47 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "driven_by": "action",
3
+ "dtype": "float32",
4
+ "episode": "0018",
5
+ "fields": {
6
+ "left_gripper": [
7
+ 6
8
+ ],
9
+ "left_joint1..6": [
10
+ 0,
11
+ 1,
12
+ 2,
13
+ 3,
14
+ 4,
15
+ 5
16
+ ],
17
+ "right_gripper": [
18
+ 13
19
+ ],
20
+ "right_joint1..6": [
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12
27
+ ]
28
+ },
29
+ "fps": 30,
30
+ "row_alignment": "one row per rendered video frame, same index and timestep as base_0/left_wrist_0/right_wrist_0",
31
+ "sample_timing": "after_controller_target_and_simulation_update",
32
+ "schema_version": 1,
33
+ "shape": [
34
+ 713,
35
+ 14
36
+ ],
37
+ "source": "isaac_articulation_get_joint_positions",
38
+ "source_episode": "0018",
39
+ "source_task": "V2/catch_and_place",
40
+ "tracking_error_vs_action_target": {
41
+ "max_abs_14d": 0.0020999982953071594,
42
+ "max_abs_arm_12d": 0.0,
43
+ "rms_14d": 0.00044327357318252325,
44
+ "rms_arm_12d": 0.0
45
+ },
46
+ "units": "radians; the two gripper dims are the combined two-finger opening, same scale as the recorded action's dim 6/13"
47
+ }
teleoperation/V2/catch_and_place/0018/sim/state.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6dd8b4c7ad004c62354bdc14042becdfa42c244585e5edc0efbe6a506dcbdf6
3
+ size 40056
teleoperation/V2/catch_and_place/0019/sim/base.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:104d5a19066937579a7e12eef704e1e48fcb71373ded6c0f95429a3d75a741a9
3
+ size 472090
teleoperation/V2/catch_and_place/0019/sim/base_mask.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f6d6d311279ca55d406fb4502e4a0c8e83aba0bec0308dce8bbfdfa1bdf85cbe
3
+ size 259151