teleopSample: add 4 Faber U pick-and-place tasks (8 episodes)

Two hand-checked episodes per task, six synchronised cameras each, with
step-level annotations. Sidebar gains four categories; existing entries
untouched. Raw streams live in the teleopSample dataset.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

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+<header>
+  <a class="back" id="backlink" href="../../index.html">← all curated episodes</a>
+  <h1>Place the juice bottle into the black tray</h1>
+  <div class="sub"><code>t4_juice_bottle_into_black_tray</code> · episode <code>20260728075709</code> · FF Faber U FFU-0005C501509 · 5.9s · 172 frames @ 29.1fps · left arm · 7 annotated steps · batch 2026-07-28</div>
+</header>
+<div class="instr">
+  <div><span class="k">instruction</span>Pick up the green juice bottle from the yellow table and place it into the black tray.</div>
+  <div style="margin-top:6px"><span class="k">object</span><span class="obj">green juice bottle (yellow cap)</span>
+    <span class="k" style="margin-left:14px">target</span><span class="tgt">black tray</span>
+    <span class="k" style="margin-left:14px">scene</span>lab bay behind acoustic screens, yellow table</div>
+</div>
+<div class="layout">
+  <div class="panel"><div class="camgrid" id="camgrid"></div></div>
+  <div class="panel">
+    <div class="steps-head">annotated steps (7)</div>
+    <div id="stepList"></div>
+  </div>
+</div>
+<div class="panel tlwrap">
+  <div class="tl" id="tl"><div class="cur" id="tlCur"></div></div>
+  <div class="tlnums"><span>0.00s</span><span id="tlEnd"></span></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 annot">
+  <div class="annot-title">step annotation · current step</div>
+  <h3 id="anLabel">-<span class="tok" id="anTok"></span></h3>
+  <div class="when" id="anWhen"></div>
+  <p id="anDesc"></p>
+  <div class="sgrid" id="anSignals"></div>
+</div>
+<div class="panel readout">
+  <div class="readout-title">current frame · robot state 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">step</span><span class="v" id="roStep" style="color:#7fb2ff">–</span></div>
+    <div class="ro"><span class="k">teleop source</span><span class="v" id="roSrc">–</span></div>
+    <div class="ro"><span class="k">gripper open L / R</span><span class="v hi" id="roGrip">– / –</span></div>
+    <div class="ro"><span class="k">L end pos xyz (m)</span><span class="v" id="roEndL">–</span></div>
+    <div class="ro"><span class="k">R end pos xyz (m)</span><span class="v" id="roEndR">–</span></div>
+    <div class="ro"><span class="k">|F| L / R (N)</span><span class="v" id="roF">–</span></div>
+    <div class="ro"><span class="k">active arm</span><span class="v" id="roSide">–</span></div>
+    <div class="ro"><span class="k">peak |τ| joint</span><span class="v" id="roTau">–</span></div>
+    <div class="ro"><span class="k">cmd Δ max joint (rad)</span><span class="v" id="roCmd">–</span></div>
+    <div class="ro"><span class="k">step progress</span><span class="v" id="roProg">–</span></div>
+  </div>
+</div>
+<div class="panel" style="margin:12px 22px 0;padding:10px 16px">
+  <div class="readout-title">arm joint effort · 14 DoF <span id="effInfo" style="color:#6f92c8;text-transform:none"></span></div>
+  <canvas id="cEff" height="38"></canvas>
+  <div class="tac-legend">
+    <span>|torque|</span><span>low</span><i class="grad"></i><span>high</span>
+    <span style="margin-left:14px"><i class="sw"></i> ~zero</span>
+    <span style="margin-left:14px">each cell = one joint (j1→j7, shoulder→wrist) · normalised to episode peak (<span id="effPeak"></span> Nm)</span>
+  </div>
+</div>
+<div class="charts">
+  <div class="panel chart-panel"><div class="label">end-effector contact force |F| (N) — <i style="background:#41c76b"></i>left <i style="background:#e0616f"></i>right</div><canvas id="cForce" height="54"></canvas></div>
+  <div class="panel chart-panel"><div class="label" id="lblJoints">arm joint positions (rad) · 7 DoF</div><canvas id="cJoints" height="54"></canvas></div>
+  <div class="panel chart-panel"><div class="label" id="lblEnd">end-effector position (m)</div><canvas id="cEnd" height="54"></canvas></div>
+  <div class="panel chart-panel"><div class="label" id="lblGrip">gripper open (0=closed .. 1=open) — <i style="background:#41c76b"></i>left <i style="background:#e0616f"></i>right</div><canvas id="cGrip" height="54"></canvas></div>
+  <div class="panel chart-panel"><div class="label">teleop source active (action_src_status) — <i style="background:#e0a53e"></i>1 = commands coming from the operator</div><canvas id="cSrc" height="54"></canvas></div>
+</div>
+<div class="panel" style="margin:12px 22px 26px;padding:12px 18px">
+  <div class="readout-title">episode files · this curated sample</div>
+  
+  <div class="files" id="fileManifest"></div>
+  <div style="color:#6b7686;font-size:12px;margin-top:9px;line-height:1.6">
+    original data (camera streams, state, teleop topic logs): <a style="color:#7fb2ff" href="https://huggingface.co/datasets/faradayfuture/teleopSample/tree/main/faberU_pickplace_samples/t4_juice_bottle_into_black_tray/20260728075709" target="_blank" rel="noopener">faberU_pickplace_samples/t4_juice_bottle_into_black_tray/20260728075709 ↗</a><br>
+    annotations in <code style="color:#8fa8c8">annotation.json</code> (steps + measurements) and
+    <code style="color:#8fa8c8">frames.csv</code> (per-frame step label, state, teleop command).
+  </div>
+</div>
+
+<script id="files" type="application/json">[{"name":"video/hand_left_color.mp4","size":"829.7 KB"},{"name":"video/head_color.mp4","size":"274.1 KB"},{"name":"video/hand_right_color.mp4","size":"201.2 KB"},{"name":"video/head_stereo_left.mp4","size":"266.2 KB"},{"name":"video/head_depth.mp4","size":"1.3 MB"},{"name":"video/head_stereo_right.mp4","size":"255.3 KB"},{"name":"original camera streams \u00b7 aligned_joints.h5 \u00b7 teleop topic logs","size":"in the dataset \u2197"}]</script>
+<script id="series" 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+const STEPS=JSON.parse(document.getElementById('steps').textContent);
+const CAMS=JSON.parse(document.getElementById('cams').textContent);
+const FILES=JSON.parse(document.getElementById('files').textContent);
+const has=k=>S[k]!==undefined;
+const DUR=S.t[S.n-1];
+const TOKC={idle:'#8a8f98',reach_to_object:'#4f8ff7',fine_align:'#6f9fd8',grasp_close:'#41c76b',
+  lift:'#e0a53e',transport:'#b46fe0',align_over_target:'#e0d15f',lower_onto_target:'#e0955f',
+  release:'#e0616f',retreat:'#5fe0c0',carry_away:'#b46fe0',hold:'#8a8f98'};
+const col=st=>TOKC[st.token]||'#8a8f98';
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+const fm=document.getElementById('fileManifest');
+FILES.forEach(f=>{const d=document.createElement('span');d.className='file-chip';
+  d.innerHTML=f.name+'<span class="sz">'+f.size+'</span>';fm.appendChild(d);});
+
+// ---- cameras
+const camgrid=document.getElementById('camgrid'),videos=[];
+CAMS.forEach(c=>{const d=document.createElement('div');d.className='cam';
+  d.innerHTML=`<div class="lbl">${c.label}</div><video muted playsinline preload="auto" src="${c.src}"></video>`;
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+const master=videos[_mi];
+
+// ---- step list + timeline
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+document.getElementById('tlEnd').textContent=DUR.toFixed(2)+'s';
+STEPS.forEach(st=>{
+  const it=document.createElement('div');it.className='step-item';it.style.borderLeftColor=col(st);
+  it.innerHTML=`<div class="t">${st.start_s.toFixed(2)}s – ${st.end_s.toFixed(2)}s · ${st.duration_s.toFixed(2)}s · ${st.frames}f</div>`+
+    `<div class="title">${st.id}. ${st.label}</div><div class="tok">${st.token}</div>`;
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+  const sg=document.createElement('div');sg.className='seg';
+  sg.style.background=col(st);sg.style.width=(100*(st.end_s-st.start_s)/DUR)+'%';
+  sg.title=`${st.id}. ${st.label}  ${st.start_s.toFixed(2)}-${st.end_s.toFixed(2)}s`;
+  sg.innerHTML='<span>'+st.id+'</span>';
+  sg.onclick=e=>{e.stopPropagation();seekTo(st.start_s+0.01);update();};
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+  return t<STEPS[0].start_s?0:STEPS.length-1;}
+
+// ---- playback
+const playBtn=document.getElementById('play'),seek=document.getElementById('seek'),tlabel=document.getElementById('tlabel');
+let playing=false;
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+setInterval(()=>{if(!master.paused)resync();},1000);
+function loop(){update();if(playing)requestAnimationFrame(loop);}
+function frameAt(t){return Math.max(0,Math.min(S.n-1,Math.round(t*S.fps)));}
+
+// ---- annotation panel
+const SIDE=S.side,SIDEL=SIDE==='L'?'left':'right';
+document.getElementById('lblJoints').textContent=SIDEL+'-arm joint positions (rad) · 7 DoF (j1 shoulder → j7 wrist)'+
+  (has('act_joints')?' · solid = state, dashed = teleop command':'');
+document.getElementById('lblEnd').innerHTML=SIDEL+'-arm end-effector position (m) — <i style="background:#e0616f"></i>x <i style="background:#41c76b"></i>y <i style="background:#4f8ff7"></i>z';
+if(has('act_grip_l')) document.getElementById('lblGrip').innerHTML+=' · dashed = command';
+let curStep=-1;
+function renderStep(i){
+  if(i===curStep)return; curStep=i;
+  const st=STEPS[i];
+  document.getElementById('anLabel').innerHTML=`${st.id}. ${st.label}<span class="tok" id="anTok">${st.token}</span>`;
+  document.getElementById('anWhen').textContent=
+    `${st.start_s.toFixed(2)}s – ${st.end_s.toFixed(2)}s · ${st.duration_s.toFixed(2)}s · frames ${st.start_frame}–${st.end_frame} (${st.frames})`;
+  document.getElementById('anDesc').textContent=st.description;
+  const sg=[['gripper open',`${st.gripper.start.toFixed(2)} → ${st.gripper.end.toFixed(2)} (min ${st.gripper.min.toFixed(2)})`],
+    ['ee path',`${st.ee.travel_m.toFixed(3)} m`],
+    ['ee Δz',`${st.ee.dz_m>=0?'+':''}${st.ee.dz_m.toFixed(3)} m`],
+    ['ee Δxy',`${st.ee.dxy_m.toFixed(3)} m`],
+    ['speed mean / max',`${st.ee.v_mean.toFixed(2)} / ${st.ee.v_max.toFixed(2)} m/s`],
+    ['contact |F| peak',`${st.contact.force_peak_N.toFixed(1)} N`],
+    ['peak |τ|',`${st.effort.peak_joint} ${st.effort.peak_Nm!==null?st.effort.peak_Nm.toFixed(1):'–'} Nm`]];
+  if(st.tracking) sg.push(['cmd err mean / max',`${st.tracking.cmd_err_mean_rad.toFixed(3)} / ${st.tracking.cmd_err_max_rad.toFixed(3)} rad`]);
+  document.getElementById('anSignals').innerHTML=sg.map(r=>
+    `<div class="sg"><span class="k">${r[0]}</span><span class="v">${r[1]}</span></div>`).join('');
+  list.querySelectorAll('.step-item').forEach((e,k)=>e.classList.toggle('active',k===i));
+  tl.querySelectorAll('.seg').forEach((e,k)=>e.classList.toggle('active',k===i));
+}
+
+// ---- effort strip
+function heat(v){v=Math.max(0,Math.min(1,v));
+  const s=[[30,40,120],[40,140,200],[60,200,120],[230,210,60],[220,60,50]];
+  const x=v*(s.length-1),i=Math.floor(x),f=x-i,a=s[i],b=s[Math.min(i+1,s.length-1)];
+  return `rgb(${Math.round(a[0]+(b[0]-a[0])*f)},${Math.round(a[1]+(b[1]-a[1])*f)},${Math.round(a[2]+(b[2]-a[2])*f)})`;}
+const cEff=document.getElementById('cEff');
+if(has('eff')){document.getElementById('effInfo').textContent='(7 joints/arm · both arms shown · peak '+S.eff_max+' Nm)';
+  document.getElementById('effPeak').textContent=S.eff_max;}
+function drawEffort(i){
+  if(!has('eff'))return;
+  const ctx=cEff.getContext('2d'),dpr=devicePixelRatio||1,w=cEff.clientWidth,h=cEff.clientHeight||46;
+  cEff.width=w*dpr;cEff.height=h*dpr;ctx.setTransform(dpr,0,0,dpr,0,0);ctx.clearRect(0,0,w,h);
+  const vals=S.eff[i]||[],K=vals.length,gap=18,cw=(w-gap-4)/K;
+  for(let k=0;k<K;k++){const x=2+k*cw+(k>=7?gap:0),v=Math.abs(vals[k])/Math.max(1e-6,S.eff_max);
+    ctx.fillStyle=v>0.02?heat(v):'#1b1f2a';ctx.fillRect(x,4,cw-1.5,h-16);
+    ctx.strokeStyle='#0b0d12';ctx.lineWidth=1;ctx.strokeRect(x,4,cw-1.5,h-16);}
+  ctx.font='10px ui-monospace';
+  ctx.fillStyle=SIDE==='L'?'#41c76b':'#6b7686';ctx.fillText('ARM L',2,h-3);
+  ctx.fillStyle=SIDE==='R'?'#e0616f':'#6b7686';ctx.fillText('ARM R',2+7*cw+gap,h-3);
+}
+
+// ---- charts
+const fmt=v=>(Math.abs(v)>=100?v.toFixed(0):Math.abs(v)>=10?v.toFixed(1):v.toFixed(2));
+function mkDraw(canvas,series,cols,yMin,yMax,opt){
+  opt=opt||{};const fill=opt.fill,dash=opt.dash||[];
+  return function(t){
+    const ctx=canvas.getContext('2d'),dpr=devicePixelRatio||1;
+    const w=canvas.clientWidth,h=canvas.clientHeight||90;
+    canvas.width=w*dpr;canvas.height=h*dpr;ctx.setTransform(dpr,0,0,dpr,0,0);ctx.clearRect(0,0,w,h);
+    STEPS.forEach(st=>{ctx.fillStyle=col(st)+'18';
+      ctx.fillRect(st.start_s/DUR*w,0,(st.end_s-st.start_s)/DUR*w,h);});
+    ctx.strokeStyle='#232733';ctx.lineWidth=1;
+    for(let g=0;g<=4;g++){const y=(h-14)*g/4+7;ctx.beginPath();ctx.moveTo(0,y);ctx.lineTo(w,y);ctx.stroke();}
+    const X=k=>k/(S.n-1)*w,Y=v=>(h-14)-((v-yMin)/Math.max(1e-9,yMax-yMin))*(h-14)+7;
+    series.forEach((c,ci)=>{
+      ctx.strokeStyle=cols[ci%cols.length];ctx.lineWidth=dash[ci]?1:1.4;
+      ctx.setLineDash(dash[ci]?[3,3]:[]);ctx.beginPath();
+      c.forEach((v,k)=>{const x=X(k),y=Y(v);k?ctx.lineTo(x,y):ctx.moveTo(x,y);});ctx.stroke();
+      ctx.setLineDash([]);
+      if(fill){ctx.lineTo(X(c.length-1),Y(yMin));ctx.lineTo(X(0),Y(yMin));ctx.closePath();
+        ctx.fillStyle=cols[ci%cols.length]+'33';ctx.fill();}});
+    ctx.font='9px ui-monospace';ctx.fillStyle='#6b7686';ctx.textAlign='right';
+    ctx.fillText(fmt(yMax),w-3,10);ctx.fillText(fmt(yMin),w-3,h-3);ctx.textAlign='left';
+    const px=(t/DUR)*w;ctx.strokeStyle='#ffffffaa';ctx.lineWidth=1;ctx.beginPath();ctx.moveTo(px,0);ctx.lineTo(px,h);ctx.stroke();
+  };
+}
+const rng=ss=>{let a=Infinity,b=-Infinity;ss.forEach(c=>c.forEach(v=>{a=Math.min(a,v);b=Math.max(b,v);}));return [a,b];};
+const draws=[];
+const jcols=['#e0616f','#e0955f','#e0d15f','#7fe05f','#5fe0c0','#5f9fe0','#b46fe0'];
+let jser=S.joint_idx.map(c=>S.joints.map(r=>r[c])),jdash=jser.map(()=>false);
+if(has('act_joints')) S.joint_idx.forEach(c=>{jser.push(S.act_joints.map(r=>r[c]));jdash.push(true);});
+draws.push(mkDraw(document.getElementById('cJoints'),jser,jcols,...rng(jser),{dash:jdash}));
+if(has('end_a')){const er=[0,1,2].map(c=>S.end_a.map(r=>r[c]));
+  draws.push(mkDraw(document.getElementById('cEnd'),er,['#e0616f','#41c76b','#4f8ff7'],...rng(er)));}
+if(has('grip_l')){let gs=[S.grip_l,S.grip_r],gd=[false,false];
+  if(has('act_grip_l')){gs.push(S.act_grip_l,S.act_grip_r);gd.push(true,true);}
+  draws.push(mkDraw(document.getElementById('cGrip'),gs,['#41c76b','#e0616f'],0,1,{dash:gd}));}
+if(has('fmag_l')){const [,fx]=rng([S.fmag_l,S.fmag_r]);
+  draws.push(mkDraw(document.getElementById('cForce'),[S.fmag_l,S.fmag_r],['#41c76b','#e0616f'],0,fx||1));}
+if(has('src')) draws.push(mkDraw(document.getElementById('cSrc'),[S.src],['#e0a53e'],0,1.05,{fill:true}));
+['cForce','cJoints','cEnd','cGrip','cSrc'].forEach(id=>{const c=document.getElementById(id);
+  c.addEventListener('click',e=>{const r=c.getBoundingClientRect();seekTo((e.clientX-r.left)/r.width*DUR);update();});});
+
+function update(){
+  const t=master.currentTime,i=frameAt(t),si=stepAt(t),st=STEPS[si];
+  const set=(id,v)=>{const e=document.getElementById(id);if(e)e.textContent=v;};
+  set('roTime',t.toFixed(2)+'s'); set('roFrame',i+' / '+(S.n-1));
+  set('roStep',st.id+'. '+st.token);
+  set('roGrip',has('grip_l')?S.grip_l[i].toFixed(2)+' / '+S.grip_r[i].toFixed(2):'–');
+  set('roEndL',has('end_a')?S.end_l[i].map(x=>x.toFixed(3)).join(' / '):'–');
+  set('roEndR',has('end_a')?S.end_r[i].map(x=>x.toFixed(3)).join(' / '):'–');
+  set('roF',has('fmag_l')?S.fmag_l[i].toFixed(1)+' / '+S.fmag_r[i].toFixed(1):'–');
+  set('roSrc',has('src')?(S.src[i]===1?'OPERATOR':'idle / other'):'–');
+  set('roSide',SIDEL+' arm');
+  set('roCmd',has('cmd_delta')?S.cmd_delta[i].toFixed(3):'–');
+  if(has('eff')){const e=S.eff[i];let bk=0;for(let k=0;k<e.length;k++)if(Math.abs(e[k])>Math.abs(e[bk]))bk=k;
+    set('roTau',S.joint_names[bk]+'  '+e[bk].toFixed(1)+' Nm');}
+  set('roProg',Math.round((t-st.start_s)/Math.max(1e-6,st.end_s-st.start_s)*100)+'% of step '+st.id);
+  seek.value=Math.round(t/DUR*1000);
+  tlabel.textContent=t.toFixed(2)+' / '+DUR.toFixed(2)+'s';
+  tlCur.style.left=(100*t/DUR)+'%';
+  renderStep(si);
+  drawEffort(i);draws.forEach(d=>d(t));
+}
+window.addEventListener('resize',()=>{curStep=-1;update();});
+master.addEventListener('loadedmetadata',update);
+master.addEventListener('seeked',update);
+window.addEventListener('load',update);
+</script></body></html>

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