diff --git a/.gitattributes b/.gitattributes
index 1547d506ddf0ae8f1d8abc4ae03697d458f7365a..b4a78b8220437771a72ae9de0afc0f8571f9ce33 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -219,3 +219,4 @@ teleopSample/ep4/video/chest_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
teleopSample/ep4/video/chest_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
teleopSample/ep5/video/chest_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
teleopSample/ep5/video/chest_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
+teleopSample/faberU/**/*.mp4 filter=lfs diff=lfs merge=lfs -text
diff --git a/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/hand_left_color.mp4 b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/hand_left_color.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0198ae59bfac7ad592ddd308c94db13680a7f1a7
--- /dev/null
+++ b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/hand_left_color.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4de5f521ea967d9d04dd45313d5c9f416fe26df61210cf8d48f3ff14a864b94
+size 349330
diff --git a/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/hand_right_color.mp4 b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/hand_right_color.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55eb35b2fe9ce02e9cd344564d9bed10612702b3
--- /dev/null
+++ b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/hand_right_color.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:751e814a944a4adb6a2181d2390e56eff2269438525695a38827c7ed37c90210
+size 1411102
diff --git a/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_color.mp4 b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_color.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0abced4d41542cad36ee4ea877b67c0ebdd26d0
--- /dev/null
+++ b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_color.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ff5ed952cdf189ce4ab788b7115635595e2cafdcd9c9da52ea4d0a2b0f6009
+size 572739
diff --git a/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_depth.mp4 b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_depth.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82de11f7bfcb14b831f9854af7041702a28b6322
--- /dev/null
+++ b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_depth.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c518255fe68fd3d18d3fe32b30858f9a73ef923ad433b0bfbc45391f10a820d
+size 2403692
diff --git a/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_stereo_left.mp4 b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_stereo_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15abd2688044bd0d53b3cf37002e49ce9731d262
--- /dev/null
+++ b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_stereo_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ecaa6ea7f1db6253ff17630e83ffc6576879bcc4e9ab10ad1b27ad5325e61be
+size 487238
diff --git a/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_stereo_right.mp4 b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_stereo_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d98b80c5a068a2f132cf7f9fa1f510c52909c37
--- /dev/null
+++ b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/video/head_stereo_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:400cdb49e56cbe23ddfefdee06460d50d97f5129109acd5ebf080cb351ae5637
+size 491450
diff --git a/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/viewer.html b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/viewer.html
new file mode 100644
index 0000000000000000000000000000000000000000..006c7792675c8fe79340da1c343570aaeca9d5d8
--- /dev/null
+++ b/teleopSample/faberU/t2_pet_bottle_into_steel_tray/20260707052527/viewer.html
@@ -0,0 +1,319 @@
+
+Place the PET soda bottle into the steel tray on the checkout counter · 20260707052527
+
+
+
+
instructionPick up the large transparent PET soda bottle from the retail checkout counter and set it upright in the steel tray.
+
objectlarge transparent PET soda bottle (red label)
+ targetsteel tray
+ sceneretail store checkout counter, shelves of household goods behind
+
+
+
+
annotated steps (7)
+
+
+
+
+
+ 0.00 / 0.00s
+
+
+
step annotation · current step
+
-
+
+
+
+
+
current frame · robot state readout
+
+
time0.00s
+
frame0
+
step–
+
teleop source–
+
gripper open L / R– / –
+
L end pos xyz (m)–
+
R end pos xyz (m)–
+
|F| L / R (N)–
+
active arm–
+
peak |τ| joint–
+
cmd Δ max joint (rad)–
+
step progress–
+
+
+
arm joint effort · 14 DoF
+
+
+ |torque|lowhigh
+ ~zero
+ each cell = one joint (j1→j7, shoulder→wrist) · normalised to episode peak ( Nm)
+
+
+
end-effector contact force |F| (N) — left right
+
arm joint positions (rad) · 7 DoF
+
end-effector position (m)
+
gripper open (0=closed .. 1=open) — left right
+
teleop source active (action_src_status) — 1 = commands coming from the operator
+
+
episode files · this curated sample
+
+
+
+
+
instructionPick up the large transparent PET soda bottle from the retail checkout counter and set it upright in the steel tray.
+
objectlarge transparent PET soda bottle (red label)
+ targetsteel tray
+ sceneretail store checkout counter, shelves of household goods behind
+
+
+
+
annotated steps (7)
+
+
+
+
+
+ 0.00 / 0.00s
+
+
+
step annotation · current step
+
-
+
+
+
+
+
current frame · robot state readout
+
+
time0.00s
+
frame0
+
step–
+
teleop source–
+
gripper open L / R– / –
+
L end pos xyz (m)–
+
R end pos xyz (m)–
+
|F| L / R (N)–
+
active arm–
+
peak |τ| joint–
+
cmd Δ max joint (rad)–
+
step progress–
+
+
+
arm joint effort · 14 DoF
+
+
+ |torque|lowhigh
+ ~zero
+ each cell = one joint (j1→j7, shoulder→wrist) · normalised to episode peak ( Nm)
+
+
+
end-effector contact force |F| (N) — left right
+
arm joint positions (rad) · 7 DoF
+
end-effector position (m)
+
gripper open (0=closed .. 1=open) — left right
+
teleop source active (action_src_status) — 1 = commands coming from the operator
+
+
episode files · this curated sample
+
+
+
+
+
instructionPick up the CapriSun juice bottle from the yellow table and stand it upright on the blue-and-white patterned plate.
+
objectCapriSun juice bottle (green/blue label, orange cap)
+ targetblue-and-white patterned plate
+ scenelab bay behind acoustic screens, yellow table
+
+
+
+
annotated steps (8)
+
+
+
+
+
+ 0.00 / 0.00s
+
+
+
step annotation · current step
+
-
+
+
+
+
+
current frame · robot state readout
+
+
time0.00s
+
frame0
+
step–
+
teleop source–
+
gripper open L / R– / –
+
L end pos xyz (m)–
+
R end pos xyz (m)–
+
|F| L / R (N)–
+
active arm–
+
peak |τ| joint–
+
cmd Δ max joint (rad)–
+
step progress–
+
+
+
arm joint effort · 14 DoF
+
+
+ |torque|lowhigh
+ ~zero
+ each cell = one joint (j1→j7, shoulder→wrist) · normalised to episode peak ( Nm)
+
+
+
end-effector contact force |F| (N) — left right
+
arm joint positions (rad) · 7 DoF
+
end-effector position (m)
+
gripper open (0=closed .. 1=open) — left right
+
teleop source active (action_src_status) — 1 = commands coming from the operator
+
+
episode files · this curated sample
+
+
+
+
+
instructionPick up the CapriSun juice bottle from the yellow table and stand it upright on the blue-and-white patterned plate.
+
objectCapriSun juice bottle (green/blue label, orange cap)
+ targetblue-and-white patterned plate
+ scenelab bay behind acoustic screens, yellow table
+
+
+
+
annotated steps (8)
+
+
+
+
+
+ 0.00 / 0.00s
+
+
+
step annotation · current step
+
-
+
+
+
+
+
current frame · robot state readout
+
+
time0.00s
+
frame0
+
step–
+
teleop source–
+
gripper open L / R– / –
+
L end pos xyz (m)–
+
R end pos xyz (m)–
+
|F| L / R (N)–
+
active arm–
+
peak |τ| joint–
+
cmd Δ max joint (rad)–
+
step progress–
+
+
+
arm joint effort · 14 DoF
+
+
+ |torque|lowhigh
+ ~zero
+ each cell = one joint (j1→j7, shoulder→wrist) · normalised to episode peak ( Nm)
+
+
+
end-effector contact force |F| (N) — left right
+
arm joint positions (rad) · 7 DoF
+
end-effector position (m)
+
gripper open (0=closed .. 1=open) — left right
+
teleop source active (action_src_status) — 1 = commands coming from the operator
+
+
episode files · this curated sample
+
+
+
+
+
instructionPick up the green juice bottle from the yellow table and place it into the black tray.
+
objectgreen juice bottle (yellow cap)
+ targetblack tray
+ scenelab bay behind acoustic screens, yellow table
+
+
+
+
annotated steps (7)
+
+
+
+
+
+ 0.00 / 0.00s
+
+
+
step annotation · current step
+
-
+
+
+
+
+
current frame · robot state readout
+
+
time0.00s
+
frame0
+
step–
+
teleop source–
+
gripper open L / R– / –
+
L end pos xyz (m)–
+
R end pos xyz (m)–
+
|F| L / R (N)–
+
active arm–
+
peak |τ| joint–
+
cmd Δ max joint (rad)–
+
step progress–
+
+
+
arm joint effort · 14 DoF
+
+
+ |torque|lowhigh
+ ~zero
+ each cell = one joint (j1→j7, shoulder→wrist) · normalised to episode peak ( Nm)
+
+
+
end-effector contact force |F| (N) — left right
+
arm joint positions (rad) · 7 DoF
+
end-effector position (m)
+
gripper open (0=closed .. 1=open) — left right
+
teleop source active (action_src_status) — 1 = commands coming from the operator
+
+
episode files · this curated sample
+
+
+
+
+
instructionPick up the green juice bottle from the yellow table and place it into the black tray.
+
objectgreen juice bottle (yellow cap)
+ targetblack tray
+ scenelab bay behind acoustic screens, yellow table
+
+
+
+
annotated steps (7)
+
+
+
+
+
+ 0.00 / 0.00s
+
+
+
step annotation · current step
+
-
+
+
+
+
+
current frame · robot state readout
+
+
time0.00s
+
frame0
+
step–
+
teleop source–
+
gripper open L / R– / –
+
L end pos xyz (m)–
+
R end pos xyz (m)–
+
|F| L / R (N)–
+
active arm–
+
peak |τ| joint–
+
cmd Δ max joint (rad)–
+
step progress–
+
+
+
arm joint effort · 14 DoF
+
+
+ |torque|lowhigh
+ ~zero
+ each cell = one joint (j1→j7, shoulder→wrist) · normalised to episode peak ( Nm)
+
+
+
end-effector contact force |F| (N) — left right
+
arm joint positions (rad) · 7 DoF
+
end-effector position (m)
+
gripper open (0=closed .. 1=open) — left right
+
teleop source active (action_src_status) — 1 = commands coming from the operator
+
+
episode files · this curated sample
+
+
+
+
+
instructionPick up the green-tea bottle from the yellow table and lift it clear of the surface; the episode ends with the bottle still held.
+
objectgreen-tea bottle (transparent, green label)
+ target- (pick-and-hold task)
+ scenelab bay behind acoustic screens, yellow table
+
+
+
+
annotated steps (5)
+
+
+
+
+
+ 0.00 / 0.00s
+
+
+
step annotation · current step
+
-
+
+
+
+
+
current frame · robot state readout
+
+
time0.00s
+
frame0
+
step–
+
teleop source–
+
gripper open L / R– / –
+
L end pos xyz (m)–
+
R end pos xyz (m)–
+
|F| L / R (N)–
+
active arm–
+
peak |τ| joint–
+
cmd Δ max joint (rad)–
+
step progress–
+
+
+
arm joint effort · 14 DoF
+
+
+ |torque|lowhigh
+ ~zero
+ each cell = one joint (j1→j7, shoulder→wrist) · normalised to episode peak ( Nm)
+
+
+
end-effector contact force |F| (N) — left right
+
arm joint positions (rad) · 7 DoF
+
end-effector position (m)
+
gripper open (0=closed .. 1=open) — left right
+
teleop source active (action_src_status) — 1 = commands coming from the operator
+
+
episode files · this curated sample
+
+
+
+
+
instructionPick up the green-tea bottle from the yellow table and lift it clear of the surface; the episode ends with the bottle still held.
+
objectgreen-tea bottle (transparent, green label)
+ target- (pick-and-hold task)
+ scenelab bay behind acoustic screens, yellow table
+
+
+
+
annotated steps (4)
+
+
+
+
+
+ 0.00 / 0.00s
+
+
+
step annotation · current step
+
-
+
+
+
+
+
current frame · robot state readout
+
+
time0.00s
+
frame0
+
step–
+
teleop source–
+
gripper open L / R– / –
+
L end pos xyz (m)–
+
R end pos xyz (m)–
+
|F| L / R (N)–
+
active arm–
+
peak |τ| joint–
+
cmd Δ max joint (rad)–
+
step progress–
+
+
+
arm joint effort · 14 DoF
+
+
+ |torque|lowhigh
+ ~zero
+ each cell = one joint (j1→j7, shoulder→wrist) · normalised to episode peak ( Nm)
+
+
+
end-effector contact force |F| (N) — left right
+
arm joint positions (rad) · 7 DoF
+
end-effector position (m)
+
gripper open (0=closed .. 1=open) — left right
+
teleop source active (action_src_status) — 1 = commands coming from the operator
+
+
episode files · this curated sample
+
+
+
+
@@ -39,7 +39,7 @@ iframe{flex:1;width:100%;border:0;background:#07090d}
-
+