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teleopSample viewer: fix mislabeled 'steel tray' text, unify raw-data download link style with egoSample, fix broken FaberU/pickplace_samples download path
65c21d7 verified Download teleopSample/wipe_ep1.html from faradayfuture/SampleViewer: direct link, hf CLI and curl.
- Browser
- Download file 365 kB
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https://huggingface.co/spaces/faradayfuture/SampleViewer/resolve/main/teleopSample/wipe_ep1.html
- Command line
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hf download hf://spaces/faradayfuture/SampleViewer/teleopSample/wipe_ep1.html
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curl -L -o wipe_ep1.html https://huggingface.co/spaces/faradayfuture/SampleViewer/resolve/main/teleopSample/wipe_ep1.html
365 kB
| <html lang="en"><head><meta charset="utf-8"> | |
| <meta name="viewport" content="width=device-width,initial-scale=1"> | |
| <title>Wipe table with sponge — episode 1</title><style> | |
| :root{color-scheme:dark}*{box-sizing:border-box} | |
| body{margin:0;background:#0b0d12;color:#e6e8ee;font-family:-apple-system,"PingFang SC","Helvetica Neue",Arial,sans-serif;font-size:14px} | |
| a{color:inherit} | |
| header{padding:16px 22px 8px}header h1{margin:0 0 3px;font-size:21px} | |
| .back{display:inline-block;color:#7fb2ff;font-size:12.5px;text-decoration:none;margin-bottom:6px} | |
| .sub{color:#9aa1ad;font-size:13px}.sub code{color:#c7ccd6} | |
| .layout{display:grid;grid-template-columns:1fr 328px;gap:14px;padding:0 22px;align-items:start} | |
| .panel{background:#12151c;border:1px solid #232733;border-radius:8px} | |
| .camwrap{padding:8px} | |
| .camgrid{display:grid;grid-template-columns:repeat(3,1fr);gap:6px} | |
| .sidecol-spans{position:sticky;top:8px} | |
| .cam{position:relative;background:#000;border-radius:4px;overflow:hidden;aspect-ratio:4/3} | |
| .cam video{width:100%;height:100%;display:block;object-fit:cover} | |
| .cam .lbl{position:absolute;top:5px;left:6px;font-size:11px;color:#9fe0ff;font-family:ui-monospace,monospace;background:rgba(6,9,14,.62);padding:1px 6px;border-radius:4px;z-index:2} | |
| .controls{display:flex;align-items:center;gap:12px;padding:8px 14px;margin:14px 22px 0} | |
| .controls button{background:#1b2740;color:#cfe0ff;border:1px solid #2b3654;border-radius:6px;padding:6px 14px;cursor:pointer;font-size:14px} | |
| .controls input[type=range]{flex:1} | |
| .spans-head{padding:12px 14px 8px;font-size:12px;letter-spacing:.04em;color:#9aa1ad;text-transform:uppercase} | |
| .chips{display:flex;flex-wrap:wrap;gap:6px;padding:0 14px 12px} | |
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| .chip.active{outline:2px solid #fff;opacity:1} | |
| #spanList{max-height:56vh;overflow:auto} | |
| .span-item{border-left:3px solid transparent;border-radius:4px;padding:8px 10px;margin:0 10px 4px;cursor:pointer;background:#171b24} | |
| .span-item:hover{background:#1d2330}.span-item.active{background:#1b2740} | |
| .span-item .t{font-size:11px;color:#8890a0;font-family:ui-monospace,monospace} | |
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| .chart-panel canvas{width:100%;height:68px;display:block;cursor:crosshair} | |
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| @media(max-width:1000px){.layout{grid-template-columns:1fr}.charts{grid-template-columns:1fr}} | |
| </style></head><body> | |
| <header> | |
| <h1>Wipe table with sponge</h1> | |
| <div class="sub"><code>Faber U</code> · dual-arm gripper · episode 1 · 26.5s · 794 frames @ 30fps · teleop</div> | |
| </header> | |
| <div class="layout"> | |
| <div class="panel camwrap"><div id="camgrid" class="camgrid"></div></div> | |
| <div class="panel sidecol-spans"> | |
| <div class="spans-head">temporal spans (3) · instruction segments</div> | |
| <div class="chips" id="chips"></div><div id="spanList"></div> | |
| </div> | |
| </div> | |
| <div class="panel controls"> | |
| <button id="play">▶︎</button> | |
| <input type="range" id="seek" min="0" max="1000" value="0"> | |
| <span id="tlabel" style="font-variant-numeric:tabular-nums;color:#c7ccd6">0.00 / 0.00s</span> | |
| </div> | |
| <div class="panel readout"> | |
| <div class="readout-title">current frame · commanded action readout</div> | |
| <div class="rgrid"> | |
| <div class="ro"><span class="k">time</span><span class="v" id="roTime">0.00s</span></div> | |
| <div class="ro"><span class="k">frame</span><span class="v" id="roFrame">0</span></div> | |
| <div class="ro"><span class="k">subtask</span><span class="v hi" id="roSub">–</span></div> | |
| <div class="ro"><span class="k">span progress</span><span class="v" id="roProg">–</span></div> | |
| <div class="ro"><span class="k">gripper cmd L / R</span><span class="v" id="roGrip">–</span></div> | |
| <div class="ro"><span class="k">L end xyz (m)</span><span class="v" id="roEndL">–</span></div> | |
| <div class="ro"><span class="k">R end xyz (m)</span><span class="v" id="roEndR">–</span></div> | |
| </div> | |
| <div class="hilevel"><span class="k">scene</span> The right gripper wipes stains off the tabletop with a sponge, then resets its posture.</div> | |
| </div> | |
| <div class="charts"> | |
| <div class="panel chart-panel"><div class="label">gripper command (raw) — <i style="background:#41c76b"></i>left <i style="background:#e0616f"></i>right</div><canvas id="cGrip"></canvas></div> | |
| <div class="panel chart-panel"><div class="label">arm joint targets (rad) · 14 DoF</div><canvas id="cJoints"></canvas></div> | |
| <div class="panel chart-panel"><div class="label">left end-effector target (m) — <i style="background:#e0616f"></i>x <i style="background:#41c76b"></i>y <i style="background:#4f8ff7"></i>z</div><canvas id="cEndL"></canvas></div> | |
| <div class="panel chart-panel"><div class="label">right end-effector target (m) — <i style="background:#e0616f"></i>x <i style="background:#41c76b"></i>y <i style="background:#4f8ff7"></i>z</div><canvas id="cEndR"></canvas></div> | |
| </div> | |
| <div class="panel manifest"> | |
| <div class="readout-title">episode files | |
| <a class="dl" id="dsLink" href="#" target="_blank" rel="noopener">↓ browse / download this episode on HuggingFace</a></div> | |
| <div class="dl-row"><button class="dl-cmd" onclick="navigator.clipboard.writeText('hf download faradayfuture/teleopSample --repo-type dataset --local-dir teleopSample');var b=this,o=b.textContent;b.textContent='✓ copied — run in terminal';setTimeout(function(){b.textContent=o},2500)">📋 copy: hf download (all files)</button></div> | |
| <div class="files" id="fileManifest"></div> | |
| </div> | |
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| |
| <script id="spans" type="application/json">[{"id":0,"start_s":0.0,"end_s":3.83,"success_s":null,"title":"Approach / setup","token":"setup"},{"id":1,"start_s":3.83,"end_s":15.83,"success_s":15.83,"title":"The right arm used a sponge to wipe the stains off the table.","token":"seg 1/2"},{"id":2,"start_s":15.83,"end_s":26.47,"success_s":19.1,"title":"Adjust the posture of the right arm.","token":"seg 2/2"}]</script> | |
| <script id="meta" type="application/json">{"robot":"Faber U","scene":"Wipe table with sponge","task_id":"5374","capture_date":"2026-01-20","episode":1,"frames":794,"fps":30,"duration_s":26.47,"high_level_instruction":"1. Wipe off the stains on the table.2. sorting garment bags.","h5_path":"zhoupu://agibot-world/skild-demo/2026012001/proprio_stats/5374/2272635/proprio_stats.h5","hf_raw_dir":"2026012003/gripper/task_5374","instruction_segments":[{"instruction":"The right arm used a sponge to wipe the stains off the table.","instruction_augmentation":{},"start_frame_index":115,"success_frame_index":475,"end_frame_index":475},{"instruction":"Adjust the posture of the right arm.","instruction_augmentation":{},"start_frame_index":475,"success_frame_index":573,"end_frame_index":573}],"slug":"wipe_ep1"}</script> | |
| <script id="cams" type="application/json">[{"key":"hand_left","label":"wrist \u00b7 left"},{"key":"top_head","label":"overhead"},{"key":"hand_right","label":"wrist \u00b7 right"},{"key":"head_left_fisheye","label":"head \u00b7 left"},{"key":"depth","label":"head depth \u00b7 turbo 0.3\u20133.0 m"},{"key":"head_right_fisheye","label":"head \u00b7 right"}]</script> | |
| <script> | |
| const S=JSON.parse(document.getElementById('series').textContent); | |
| const SPANS=JSON.parse(document.getElementById('spans').textContent); | |
| const META=JSON.parse(document.getElementById('meta').textContent); | |
| const CAMS=JSON.parse(document.getElementById('cams').textContent); | |
| const SLUG=META.slug, DUR=S.n/S.fps; | |
| const SPAN_COLORS=["#8a8f98","#4f8ff7","#41c76b","#e0a53e","#b46fe0","#e0616f","#e08f5f","#5fc9e0"]; | |
| // ---- camera grid: HuggingFace teleopSample layout — 3x2, wrist / main / wrist | |
| // on top, head-fisheye / depth / head-fisheye below (depth takes the slot | |
| // the tactile-hand panel occupies in the dexterous-hand viewer) | |
| const grid=document.getElementById('camgrid'); const vids=[]; let master=null; | |
| const byKey={}; CAMS.forEach(c=>byKey[c.key]=c); | |
| CAMS.forEach(c=>{ | |
| const main=c.key==='top_head'; | |
| const d=document.createElement('div'); d.className='cam'; | |
| d.innerHTML=`<div class="lbl">${c.label}</div><video muted playsinline preload="auto" src="media/${SLUG}/${c.key}.mp4"></video>`; | |
| grid.appendChild(d); | |
| const v=d.querySelector('video'); vids.push(v); if(main) master=v; | |
| }); | |
| if(!master) master=vids[0]; | |
| // ---- spans sidebar | |
| const chips=document.getElementById('chips'), list=document.getElementById('spanList'); | |
| SPANS.forEach((s,i)=>{ | |
| const col=SPAN_COLORS[i%SPAN_COLORS.length]; | |
| const c=document.createElement('div'); c.className='chip'; c.style.background=col; c.textContent=s.id; | |
| c.onclick=()=>seekTo(s.start_s+0.01); chips.appendChild(c); | |
| const it=document.createElement('div'); it.className='span-item'; it.style.borderLeftColor=col; | |
| it.innerHTML=`<div class="t">${s.start_s.toFixed(1)}–${s.end_s.toFixed(1)}s${s.success_s!=null?' ✓'+s.success_s.toFixed(1)+'s':''}</div><div class="title">${s.id}. ${s.title}</div>`; | |
| it.onclick=()=>seekTo(s.start_s+0.01); list.appendChild(it); | |
| }); | |
| function activeSpan(t){ for(let i=0;i<SPANS.length;i++) if(t>=SPANS[i].start_s&&t<SPANS[i].end_s) return i; return SPANS.length-1; } | |
| // ---- multi-view sync: master clock + playback-rate trim on the others (never per-frame seeks) | |
| let playing=false, raf=0, syncTimer=0, _lastCi=-2; | |
| function inBuf(v,t){ const b=v.buffered; for(let i=0;i<b.length;i++) if(t>=b.start(i)-0.2&&t<=b.end(i)+0.2) return true; return false; } | |
| function syncSlaves(t,hard){ | |
| if(hard){ | |
| for(const v of vids){ if(v.readyState<1) continue; v.playbackRate=1; | |
| if(v!==master && !v.seeking && Math.abs(v.currentTime-t)>0.06){ try{v.currentTime=t;}catch(e){} } } | |
| return; | |
| } | |
| let worstLag = 0; | |
| for(const v of vids){ if(v===master||v.readyState<1||!playing) continue; | |
| if(v.paused&&!v.ended){ v.play().catch(()=>{}); } | |
| const drift=v.currentTime-t, ad=Math.abs(drift); // drift<0 => this tile is behind | |
| if(drift < -0.3) worstLag = Math.max(worstLag, -drift); | |
| if(ad>1.0 && !v.seeking && inBuf(v,t)){ try{v.currentTime=t;}catch(e){} v.playbackRate=1; } | |
| else if(ad>0.04){ v.playbackRate=Math.max(0.5,Math.min(1.8, 1-drift*3)); } | |
| else v.playbackRate=1; | |
| } | |
| // a tile stuck far behind can't be seeked forward (still downloading) — hold the | |
| // master back so all views stay together instead of the laggards looping the start | |
| if(master && playing) master.playbackRate = worstLag>1.5 ? 0.25 : (worstLag>0.6 ? 0.6 : 1); | |
| } | |
| function seekTo(t){ t=Math.max(0,Math.min(DUR-0.01,t)); | |
| try{ if(Math.abs(master.currentTime-t)>0.05) master.currentTime=t; }catch(e){} | |
| syncSlaves(t,true); update(); } | |
| const playBtn=document.getElementById('play'), seek=document.getElementById('seek'), tlabel=document.getElementById('tlabel'); | |
| function setPlaying(p){ | |
| playing=p; playBtn.textContent=p?'❚❚':'▶︎'; | |
| if(p){ vids.forEach(v=>v.play().catch(()=>{})); loop(); | |
| clearInterval(syncTimer); syncTimer=setInterval(()=>{ if(playing&&master) syncSlaves(master.currentTime,false); },250); } | |
| else { vids.forEach(v=>{ v.pause(); v.playbackRate=1; }); clearInterval(syncTimer); syncTimer=0; } | |
| } | |
| playBtn.onclick=()=>setPlaying(!playing); | |
| seek.oninput=()=>seekTo(seek.value/1000*DUR); | |
| master.addEventListener('seeked',()=>{ if(master) syncSlaves(master.currentTime,true); }); | |
| function frameAt(t){ return Math.max(0,Math.min(S.n-1,Math.round(t*S.fps))); } | |
| function fmtv(a){ return Array.from(a).map(x=>x.toFixed(3)).join(' '); } | |
| function update(){ | |
| const t=master.currentTime, i=frameAt(t); | |
| document.getElementById('roTime').textContent=t.toFixed(2)+'s'; | |
| document.getElementById('roFrame').textContent=i+' / '+(S.n-1); | |
| document.getElementById('roGrip').textContent=S.grip_l[i].toFixed(3)+' / '+S.grip_r[i].toFixed(3); | |
| document.getElementById('roEndL').textContent=fmtv(S.end[i].slice(0,3)); | |
| document.getElementById('roEndR').textContent=fmtv(S.end[i].slice(3,6)); | |
| const si=activeSpan(t), sp=SPANS[si]; | |
| const stt=sp?(sp.id+'. '+sp.title):'–'; | |
| const rs=document.getElementById('roSub'); | |
| rs.textContent=stt.length>46?stt.slice(0,44)+'…':stt; rs.title=stt; | |
| document.getElementById('roProg').textContent=sp?('['+sp.id+'] '+Math.max(0,Math.min(100,Math.round((t-sp.start_s)/(sp.end_s-sp.start_s)*100)))+'%'):'–'; | |
| chips.querySelectorAll('.chip').forEach((c,k)=>c.classList.toggle('active',k===si)); | |
| const items=list.querySelectorAll('.span-item'); | |
| items.forEach((c,k)=>c.classList.toggle('active',k===si)); | |
| if(si!==_lastCi && items[si]){ items[si].scrollIntoView({block:'nearest'}); _lastCi=si; } | |
| seek.value=Math.round(t/DUR*1000); | |
| tlabel.textContent=t.toFixed(2)+' / '+DUR.toFixed(2)+'s'; | |
| drawAll(t); | |
| } | |
| function loop(){ update(); if(playing) raf=requestAnimationFrame(loop); } | |
| // ---- charts | |
| function mkDraw(canvas,cols,colcolors){ | |
| let mn=Infinity,mx=-Infinity; | |
| cols.forEach(c=>c.forEach(v=>{ if(v<mn)mn=v; if(v>mx)mx=v; })); | |
| if(mn===mx){ mn-=1; mx+=1; } const pad=(mx-mn)*0.06; mn-=pad; mx+=pad; | |
| return function(t){ | |
| const ctx=canvas.getContext('2d'), dpr=devicePixelRatio||1; | |
| const w=canvas.clientWidth, h=canvas.clientHeight||60; | |
| canvas.width=w*dpr; canvas.height=h*dpr; ctx.setTransform(dpr,0,0,dpr,0,0); ctx.clearRect(0,0,w,h); | |
| ctx.strokeStyle='#232733'; ctx.lineWidth=1; | |
| for(let g=0;g<=3;g++){ const y=(h-12)*g/3+6; ctx.beginPath(); ctx.moveTo(0,y); ctx.lineTo(w,y); ctx.stroke(); } | |
| const X=k=>k/(S.n-1)*w, Y=v=>(h-12)-((v-mn)/(mx-mn))*(h-12)+6; | |
| cols.forEach((col,ci)=>{ ctx.strokeStyle=colcolors[ci%colcolors.length]; ctx.lineWidth=1.1; ctx.beginPath(); | |
| col.forEach((v,k)=>{ const x=X(k),y=Y(v); k?ctx.lineTo(x,y):ctx.moveTo(x,y); }); ctx.stroke(); }); | |
| const px=(t/DUR)*w; ctx.strokeStyle='#ffffffaa'; ctx.lineWidth=1; ctx.beginPath(); ctx.moveTo(px,0); ctx.lineTo(px,h); ctx.stroke(); | |
| }; | |
| } | |
| const col=(m,j)=>m.map(r=>r[j]); | |
| const jc=['#e0616f','#e0955f','#e0d15f','#7fe05f','#5fe0c0','#5f9fe0','#b46fe0']; | |
| const drawGrip=mkDraw(document.getElementById('cGrip'),[S.grip_l,S.grip_r],['#41c76b','#e0616f']); | |
| const drawJoints=mkDraw(document.getElementById('cJoints'),Array.from({length:14},(_,j)=>col(S.joints,j)),jc.concat(jc)); | |
| const drawEndL=mkDraw(document.getElementById('cEndL'),[col(S.end,0),col(S.end,1),col(S.end,2)],['#e0616f','#41c76b','#4f8ff7']); | |
| const drawEndR=mkDraw(document.getElementById('cEndR'),[col(S.end,3),col(S.end,4),col(S.end,5)],['#e0616f','#41c76b','#4f8ff7']); | |
| function drawAll(t){ drawGrip(t); drawJoints(t); drawEndL(t); drawEndR(t); } | |
| ['cGrip','cJoints','cEndL','cEndR'].forEach(id=>{ const c=document.getElementById(id); | |
| c.addEventListener('click',e=>{ const r=c.getBoundingClientRect(); seekTo((e.clientX-r.left)/r.width*DUR); }); }); | |
| window.addEventListener('resize',()=>update()); | |
| // ---- files manifest + provenance | |
| const HFDS='https://huggingface.co/datasets/faradayfuture/teleopSample'; | |
| document.getElementById('dsLink').href=HFDS+'/tree/main/FaberU/workshop_samples/'+META.hf_raw_dir; | |
| const fm=document.getElementById('fileManifest'); | |
| CAMS.forEach(c=>{ const a=document.createElement('a'); a.className='file-chip'; | |
| a.href=`clip.html?v=${encodeURIComponent('media/'+SLUG+'/'+c.key+'.mp4')}&back=${encodeURIComponent(SLUG+'.html')}&t=${encodeURIComponent(SLUG+' · '+c.key)}`; | |
| a.innerHTML=`${c.key}.mp4`; fm.appendChild(a); }); | |
| [[SLUG+'.parquet',SLUG+'.parquet'], | |
| [SLUG+'.meta.json',SLUG+'.meta.json']].forEach(([lbl,href])=>{ | |
| const a=document.createElement('a'); a.className='file-chip'; a.href=href; a.innerHTML=lbl; fm.appendChild(a); }); | |
| // ---- autoplay (muted) + loop | |
| (function(){ | |
| let started=false, iv=setInterval(tryStart,400); | |
| function tryStart(){ | |
| if(started||playing) return; | |
| if(!vids.length||!vids.every(v=>v.readyState>=2)) return; | |
| started=true; clearInterval(iv); | |
| vids.forEach(v=>v.muted=true); setPlaying(true); | |
| } | |
| vids.forEach(v=>{ v.addEventListener('canplay',tryStart); v.addEventListener('loadeddata',tryStart); }); | |
| window.addEventListener('load',tryStart); | |
| setTimeout(()=>clearInterval(iv),90000); | |
| setInterval(()=>{ if(playing&&master&&master.currentTime>=DUR-0.08){ | |
| try{master.currentTime=0;}catch(e){} syncSlaves(0,true); | |
| if(playing) vids.forEach(v=>v.play().catch(()=>{})); }},200); | |
| })(); | |
| master.addEventListener('loadedmetadata',update); window.addEventListener('load',update); | |
| </script> | |
| </body></html> | |