| { |
| "entity": "CaryX AI", |
| "corpus_id": "everyday-manipulation-3d", |
| "release_version": "0.4", |
| "draft": false, |
| "license_spdx": "CC-BY-NC-SA-4.0", |
| "license_is_research": true, |
| "mano_passthrough": true, |
| "pipeline_version": "0.2.0", |
| "lerobot_version": "0.6.0", |
| "n_episodes": 32, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mask_channel_packing": "R=slot0, B=slot1, threshold>127", |
| "timestamps_are_source_time": true, |
| "episodes": { |
| "019fbc18-33ed-7270-8166-1997f31222c8": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 3.6, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 0, |
| "task": "scoop_grain", |
| "n_steps": 349, |
| "n_state_invalid": 74, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674, |
| 676, |
| 678, |
| 680, |
| 682, |
| 684, |
| 686, |
| 688, |
| 690, |
| 692, |
| 694, |
| 696 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbc16-b84b-7ad3-8387-7a3305b151d0": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 2.6, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 1, |
| "task": "scoop_grain", |
| "n_steps": 379, |
| "n_state_invalid": 85, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674, |
| 676, |
| 678, |
| 680, |
| 682, |
| 684, |
| 686, |
| 688, |
| 690, |
| 692, |
| 694, |
| 696, |
| 698, |
| 700, |
| 702, |
| 704, |
| 706, |
| 708, |
| 710, |
| 712, |
| 714, |
| 716, |
| 718, |
| 720, |
| 722, |
| 724, |
| 726, |
| 728, |
| 730, |
| 732, |
| 734, |
| 736, |
| 738, |
| 740, |
| 742, |
| 744, |
| 746, |
| 748, |
| 750, |
| 752, |
| 754, |
| 756 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbc15-11a7-7860-889f-d07cfa430507": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 4.8, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 2, |
| "task": "scoop_grain", |
| "n_steps": 338, |
| "n_state_invalid": 69, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbc13-d77f-70c1-b142-4b07a7df35f6": { |
| "raster_rotation": "ccw90", |
| "orientation": "landscape", |
| "pose_correction_quarter_turns": 0, |
| "gravity_angle_deg": 5.4, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 3, |
| "task": "scoop_grain", |
| "n_steps": 344, |
| "n_state_invalid": 85, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674, |
| 676, |
| 678, |
| 680, |
| 682, |
| 684, |
| 686 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbe0e-1b48-7bf0-97df-1d6702bd596e": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 9.8, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 4, |
| "task": "jar_open_close", |
| "n_steps": 160, |
| "n_state_invalid": 49, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_lid", |
| "obj_jar" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_lid", |
| "obj_jar" |
| ], |
| "contact_slot_object_labels": [ |
| "lid", |
| "glass jar" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbe0c-ecec-7212-90ad-0cc74a21ae51": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 5.5, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 5, |
| "task": "jar_open_close", |
| "n_steps": 174, |
| "n_state_invalid": 58, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_lid", |
| "obj_jar" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_lid", |
| "obj_jar" |
| ], |
| "contact_slot_object_labels": [ |
| "lid", |
| "glass jar" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbe0b-c278-75c0-ac67-331632843a81": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 5.4, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 6, |
| "task": "jar_open_close", |
| "n_steps": 154, |
| "n_state_invalid": 48, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_lid", |
| "obj_jar" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_lid", |
| "obj_jar" |
| ], |
| "contact_slot_object_labels": [ |
| "lid", |
| "glass jar" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbe0a-0896-7dd1-bbb6-6fe24d95d71b": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 4.0, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 7, |
| "task": "scoop_grain", |
| "n_steps": 430, |
| "n_state_invalid": 74, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674, |
| 676, |
| 678, |
| 680, |
| 682, |
| 684, |
| 686, |
| 688, |
| 690, |
| 692, |
| 694, |
| 696, |
| 698, |
| 700, |
| 702, |
| 704, |
| 706, |
| 708, |
| 710, |
| 712, |
| 714, |
| 716, |
| 718, |
| 720, |
| 722, |
| 724, |
| 726, |
| 728, |
| 730, |
| 732, |
| 734, |
| 736, |
| 738, |
| 740, |
| 742, |
| 744, |
| 746, |
| 748, |
| 750, |
| 752, |
| 754, |
| 756, |
| 758, |
| 760, |
| 762, |
| 764, |
| 766, |
| 768, |
| 770, |
| 772, |
| 774, |
| 776, |
| 778, |
| 780, |
| 782, |
| 784, |
| 786, |
| 788, |
| 790, |
| 792, |
| 794, |
| 796, |
| 798, |
| 800, |
| 802, |
| 804, |
| 806, |
| 808, |
| 810, |
| 812, |
| 814, |
| 816, |
| 818, |
| 820, |
| 822, |
| 824, |
| 826, |
| 828, |
| 830, |
| 832, |
| 834, |
| 836, |
| 838, |
| 840, |
| 842, |
| 844, |
| 846, |
| 848, |
| 850, |
| 852, |
| 854, |
| 856, |
| 858 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbe08-680b-74b0-84d9-e3024eaafdda": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 1.5, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 8, |
| "task": "scoop_grain", |
| "n_steps": 440, |
| "n_state_invalid": 74, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674, |
| 676, |
| 678, |
| 680, |
| 682, |
| 684, |
| 686, |
| 688, |
| 690, |
| 692, |
| 694, |
| 696, |
| 698, |
| 700, |
| 702, |
| 704, |
| 706, |
| 708, |
| 710, |
| 712, |
| 714, |
| 716, |
| 718, |
| 720, |
| 722, |
| 724, |
| 726, |
| 728, |
| 730, |
| 732, |
| 734, |
| 736, |
| 738, |
| 740, |
| 742, |
| 744, |
| 746, |
| 748, |
| 750, |
| 752, |
| 754, |
| 756, |
| 758, |
| 760, |
| 762, |
| 764, |
| 766, |
| 768, |
| 770, |
| 772, |
| 774, |
| 776, |
| 778, |
| 780, |
| 782, |
| 784, |
| 786, |
| 788, |
| 790, |
| 792, |
| 794, |
| 796, |
| 798, |
| 800, |
| 802, |
| 804, |
| 806, |
| 808, |
| 810, |
| 812, |
| 814, |
| 816, |
| 818, |
| 820, |
| 822, |
| 824, |
| 826, |
| 828, |
| 830, |
| 832, |
| 834, |
| 836, |
| 838, |
| 840, |
| 842, |
| 844, |
| 846, |
| 848, |
| 850, |
| 852, |
| 854, |
| 856, |
| 858, |
| 860, |
| 862, |
| 864, |
| 866, |
| 868, |
| 870, |
| 872, |
| 874, |
| 876, |
| 878 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbe06-b048-7b70-b85d-e417d5254e14": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 1.1, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 9, |
| "task": "scoop_grain", |
| "n_steps": 449, |
| "n_state_invalid": 106, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674, |
| 676, |
| 678, |
| 680, |
| 682, |
| 684, |
| 686, |
| 688, |
| 690, |
| 692, |
| 694, |
| 696, |
| 698, |
| 700, |
| 702, |
| 704, |
| 706, |
| 708, |
| 710, |
| 712, |
| 714, |
| 716, |
| 718, |
| 720, |
| 722, |
| 724, |
| 726, |
| 728, |
| 730, |
| 732, |
| 734, |
| 736, |
| 738, |
| 740, |
| 742, |
| 744, |
| 746, |
| 748, |
| 750, |
| 752, |
| 754, |
| 756, |
| 758, |
| 760, |
| 762, |
| 764, |
| 766, |
| 768, |
| 770, |
| 772, |
| 774, |
| 776, |
| 778, |
| 780, |
| 782, |
| 784, |
| 786, |
| 788, |
| 790, |
| 792, |
| 794, |
| 796, |
| 798, |
| 800, |
| 802, |
| 804, |
| 806, |
| 808, |
| 810, |
| 812, |
| 814, |
| 816, |
| 818, |
| 820, |
| 822, |
| 824, |
| 826, |
| 828, |
| 830, |
| 832, |
| 834, |
| 836, |
| 838, |
| 840, |
| 842, |
| 844, |
| 846, |
| 848, |
| 850, |
| 852, |
| 854, |
| 856, |
| 858, |
| 860, |
| 862, |
| 864, |
| 866, |
| 868, |
| 870, |
| 872, |
| 874, |
| 876, |
| 878, |
| 880, |
| 882, |
| 884, |
| 886, |
| 888, |
| 890, |
| 892, |
| 894, |
| 896 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbe05-4468-7161-ba92-1e418f987dbe": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 0.0, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 10, |
| "task": "scoop_grain", |
| "n_steps": 404, |
| "n_state_invalid": 98, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674, |
| 676, |
| 678, |
| 680, |
| 682, |
| 684, |
| 686, |
| 688, |
| 690, |
| 692, |
| 694, |
| 696, |
| 698, |
| 700, |
| 702, |
| 704, |
| 706, |
| 708, |
| 710, |
| 712, |
| 714, |
| 716, |
| 718, |
| 720, |
| 722, |
| 724, |
| 726, |
| 728, |
| 730, |
| 732, |
| 734, |
| 736, |
| 738, |
| 740, |
| 742, |
| 744, |
| 746, |
| 748, |
| 750, |
| 752, |
| 754, |
| 756, |
| 758, |
| 760, |
| 762, |
| 764, |
| 766, |
| 768, |
| 770, |
| 772, |
| 774, |
| 776, |
| 778, |
| 780, |
| 782, |
| 784, |
| 786, |
| 788, |
| 790, |
| 792, |
| 794, |
| 796, |
| 798, |
| 800, |
| 802, |
| 804, |
| 806 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbe03-8d1b-7860-bdab-d81eb833590b": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 0.6, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 11, |
| "task": "scoop_grain", |
| "n_steps": 492, |
| "n_state_invalid": 112, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674, |
| 676, |
| 678, |
| 680, |
| 682, |
| 684, |
| 686, |
| 688, |
| 690, |
| 692, |
| 694, |
| 696, |
| 698, |
| 700, |
| 702, |
| 704, |
| 706, |
| 708, |
| 710, |
| 712, |
| 714, |
| 716, |
| 718, |
| 720, |
| 722, |
| 724, |
| 726, |
| 728, |
| 730, |
| 732, |
| 734, |
| 736, |
| 738, |
| 740, |
| 742, |
| 744, |
| 746, |
| 748, |
| 750, |
| 752, |
| 754, |
| 756, |
| 758, |
| 760, |
| 762, |
| 764, |
| 766, |
| 768, |
| 770, |
| 772, |
| 774, |
| 776, |
| 778, |
| 780, |
| 782, |
| 784, |
| 786, |
| 788, |
| 790, |
| 792, |
| 794, |
| 796, |
| 798, |
| 800, |
| 802, |
| 804, |
| 806, |
| 808, |
| 810, |
| 812, |
| 814, |
| 816, |
| 818, |
| 820, |
| 822, |
| 824, |
| 826, |
| 828, |
| 830, |
| 832, |
| 834, |
| 836, |
| 838, |
| 840, |
| 842, |
| 844, |
| 846, |
| 848, |
| 850, |
| 852, |
| 854, |
| 856, |
| 858, |
| 860, |
| 862, |
| 864, |
| 866, |
| 868, |
| 870, |
| 872, |
| 874, |
| 876, |
| 878, |
| 880, |
| 882, |
| 884, |
| 886, |
| 888, |
| 890, |
| 892, |
| 894, |
| 896, |
| 898, |
| 900, |
| 902, |
| 904, |
| 906, |
| 908, |
| 910, |
| 912, |
| 914, |
| 916, |
| 918, |
| 920, |
| 922, |
| 924, |
| 926, |
| 928, |
| 930, |
| 932, |
| 934, |
| 936, |
| 938, |
| 940, |
| 942, |
| 944, |
| 946, |
| 948, |
| 950, |
| 952, |
| 954, |
| 956, |
| 958, |
| 960, |
| 962, |
| 964, |
| 966, |
| 968, |
| 970, |
| 972, |
| 974, |
| 976, |
| 978, |
| 980, |
| 982 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbe02-16d6-7a62-9710-84bb67c6f74c": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 0.8, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 12, |
| "task": "scoop_grain", |
| "n_steps": 474, |
| "n_state_invalid": 87, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674, |
| 676, |
| 678, |
| 680, |
| 682, |
| 684, |
| 686, |
| 688, |
| 690, |
| 692, |
| 694, |
| 696, |
| 698, |
| 700, |
| 702, |
| 704, |
| 706, |
| 708, |
| 710, |
| 712, |
| 714, |
| 716, |
| 718, |
| 720, |
| 722, |
| 724, |
| 726, |
| 728, |
| 730, |
| 732, |
| 734, |
| 736, |
| 738, |
| 740, |
| 742, |
| 744, |
| 746, |
| 748, |
| 750, |
| 752, |
| 754, |
| 756, |
| 758, |
| 760, |
| 762, |
| 764, |
| 766, |
| 768, |
| 770, |
| 772, |
| 774, |
| 776, |
| 778, |
| 780, |
| 782, |
| 784, |
| 786, |
| 788, |
| 790, |
| 792, |
| 794, |
| 796, |
| 798, |
| 800, |
| 802, |
| 804, |
| 806, |
| 808, |
| 810, |
| 812, |
| 814, |
| 816, |
| 818, |
| 820, |
| 822, |
| 824, |
| 826, |
| 828, |
| 830, |
| 832, |
| 834, |
| 836, |
| 838, |
| 840, |
| 842, |
| 844, |
| 846, |
| 848, |
| 850, |
| 852, |
| 854, |
| 856, |
| 858, |
| 860, |
| 862, |
| 864, |
| 866, |
| 868, |
| 870, |
| 872, |
| 874, |
| 876, |
| 878, |
| 880, |
| 882, |
| 884, |
| 886, |
| 888, |
| 890, |
| 892, |
| 894, |
| 896, |
| 898, |
| 900, |
| 902, |
| 904, |
| 906, |
| 908, |
| 910, |
| 912, |
| 914, |
| 916, |
| 918, |
| 920, |
| 922, |
| 924, |
| 926, |
| 928, |
| 930, |
| 932, |
| 934, |
| 936, |
| 938, |
| 940, |
| 942, |
| 944, |
| 946 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbe00-1b47-7bf1-b0b3-74dea4da8071": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 7.6, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 13, |
| "task": "fold_laundry", |
| "n_steps": 426, |
| "n_state_invalid": 49, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "teal garment" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 4, |
| 8, |
| 12, |
| 16, |
| 20, |
| 24, |
| 28, |
| 32, |
| 36, |
| 40, |
| 44, |
| 48, |
| 52, |
| 56, |
| 60, |
| 64, |
| 68, |
| 72, |
| 76, |
| 80, |
| 84, |
| 88, |
| 92, |
| 96, |
| 100, |
| 104, |
| 108, |
| 112, |
| 116, |
| 120, |
| 124, |
| 128, |
| 132, |
| 136, |
| 140, |
| 144, |
| 148, |
| 152, |
| 156, |
| 160, |
| 164, |
| 168, |
| 172, |
| 176, |
| 180, |
| 184, |
| 188, |
| 192, |
| 196, |
| 200, |
| 204, |
| 208, |
| 212, |
| 216, |
| 220, |
| 224, |
| 228, |
| 232, |
| 236, |
| 240, |
| 244, |
| 248, |
| 252, |
| 256, |
| 260, |
| 264, |
| 268, |
| 272, |
| 276, |
| 280, |
| 284, |
| 288, |
| 292, |
| 296, |
| 300, |
| 304, |
| 308, |
| 312, |
| 316, |
| 320, |
| 324, |
| 328, |
| 332, |
| 336, |
| 340, |
| 344, |
| 348, |
| 352, |
| 356, |
| 360, |
| 364, |
| 368, |
| 372, |
| 376, |
| 380, |
| 384, |
| 388, |
| 392, |
| 396, |
| 400, |
| 404, |
| 408, |
| 412, |
| 416, |
| 420, |
| 424, |
| 428, |
| 432, |
| 436, |
| 440, |
| 444, |
| 448, |
| 452, |
| 456, |
| 460, |
| 464, |
| 468, |
| 472, |
| 476, |
| 480, |
| 484, |
| 488, |
| 492, |
| 496, |
| 500, |
| 504, |
| 508, |
| 512, |
| 516, |
| 520, |
| 524, |
| 528, |
| 532, |
| 536, |
| 540, |
| 544, |
| 548, |
| 552, |
| 556, |
| 560, |
| 564, |
| 568, |
| 572, |
| 576, |
| 580, |
| 584, |
| 588, |
| 592, |
| 596, |
| 600, |
| 604, |
| 608, |
| 612, |
| 616, |
| 620, |
| 624, |
| 628, |
| 632, |
| 636, |
| 640, |
| 644, |
| 648, |
| 652, |
| 656, |
| 660, |
| 664, |
| 668, |
| 672, |
| 676, |
| 680, |
| 684, |
| 688, |
| 692, |
| 696, |
| 700, |
| 704, |
| 708, |
| 712, |
| 716, |
| 720, |
| 724, |
| 728, |
| 732, |
| 736, |
| 740, |
| 744, |
| 748, |
| 752, |
| 756, |
| 760, |
| 764, |
| 768, |
| 772, |
| 776, |
| 780, |
| 784, |
| 788, |
| 792, |
| 796, |
| 800, |
| 804, |
| 808, |
| 812, |
| 816, |
| 820, |
| 824, |
| 828, |
| 832, |
| 836, |
| 840, |
| 844, |
| 848, |
| 852, |
| 856, |
| 860, |
| 864, |
| 868, |
| 872, |
| 876, |
| 880, |
| 884, |
| 888, |
| 892, |
| 896, |
| 900, |
| 904, |
| 908, |
| 912, |
| 916, |
| 920, |
| 924, |
| 928, |
| 932, |
| 936, |
| 940, |
| 944, |
| 948, |
| 952, |
| 956, |
| 960, |
| 964, |
| 968, |
| 972, |
| 976, |
| 980, |
| 984, |
| 988, |
| 992, |
| 996, |
| 1000, |
| 1004, |
| 1008, |
| 1012, |
| 1016, |
| 1020, |
| 1024, |
| 1028, |
| 1032, |
| 1036, |
| 1040, |
| 1044, |
| 1048, |
| 1052, |
| 1056, |
| 1060, |
| 1064, |
| 1068, |
| 1072, |
| 1076, |
| 1080, |
| 1084, |
| 1088, |
| 1092, |
| 1096, |
| 1100, |
| 1104, |
| 1108, |
| 1112, |
| 1116, |
| 1120, |
| 1124, |
| 1128, |
| 1132, |
| 1136, |
| 1140, |
| 1144, |
| 1148, |
| 1152, |
| 1156, |
| 1160, |
| 1164, |
| 1168, |
| 1172, |
| 1176, |
| 1180, |
| 1184, |
| 1188, |
| 1192, |
| 1196, |
| 1200, |
| 1204, |
| 1208, |
| 1212, |
| 1216, |
| 1220, |
| 1224, |
| 1228, |
| 1232, |
| 1236, |
| 1240, |
| 1244, |
| 1248, |
| 1252, |
| 1256, |
| 1260, |
| 1264, |
| 1268, |
| 1272, |
| 1276, |
| 1280, |
| 1284, |
| 1288, |
| 1292, |
| 1296, |
| 1300, |
| 1304, |
| 1308, |
| 1312, |
| 1316, |
| 1320, |
| 1324, |
| 1328, |
| 1332, |
| 1336, |
| 1340, |
| 1344, |
| 1348, |
| 1352, |
| 1356, |
| 1360, |
| 1364, |
| 1368, |
| 1372, |
| 1376, |
| 1380, |
| 1384, |
| 1388, |
| 1392, |
| 1396, |
| 1400, |
| 1404, |
| 1408, |
| 1412, |
| 1416, |
| 1420, |
| 1424, |
| 1428, |
| 1432, |
| 1436, |
| 1440, |
| 1444, |
| 1448, |
| 1452, |
| 1456, |
| 1460, |
| 1464, |
| 1468, |
| 1472, |
| 1476, |
| 1480, |
| 1484, |
| 1488, |
| 1492, |
| 1496, |
| 1500, |
| 1504, |
| 1508, |
| 1512, |
| 1516, |
| 1520, |
| 1524, |
| 1528, |
| 1532, |
| 1536, |
| 1540, |
| 1544, |
| 1548, |
| 1552, |
| 1556, |
| 1560, |
| 1564, |
| 1568, |
| 1572, |
| 1576, |
| 1580, |
| 1584, |
| 1588, |
| 1592, |
| 1596, |
| 1600, |
| 1604, |
| 1608, |
| 1612, |
| 1616, |
| 1620, |
| 1624, |
| 1628, |
| 1632, |
| 1636, |
| 1640, |
| 1644, |
| 1648, |
| 1652, |
| 1656, |
| 1660, |
| 1664, |
| 1668, |
| 1672, |
| 1676, |
| 1680, |
| 1684, |
| 1688, |
| 1692, |
| 1696, |
| 1700 |
| ], |
| "source_fps": 60.0 |
| }, |
| "019fb6df-0a15-7630-b4e1-b5e552791fcc": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 3.3, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 14, |
| "task": "scoop_grain", |
| "n_steps": 389, |
| "n_state_invalid": 60, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "mug" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470, |
| 472, |
| 474, |
| 476, |
| 478, |
| 480, |
| 482, |
| 484, |
| 486, |
| 488, |
| 490, |
| 492, |
| 494, |
| 496, |
| 498, |
| 500, |
| 502, |
| 504, |
| 506, |
| 508, |
| 510, |
| 512, |
| 514, |
| 516, |
| 518, |
| 520, |
| 522, |
| 524, |
| 526, |
| 528, |
| 530, |
| 532, |
| 534, |
| 536, |
| 538, |
| 540, |
| 542, |
| 544, |
| 546, |
| 548, |
| 550, |
| 552, |
| 554, |
| 556, |
| 558, |
| 560, |
| 562, |
| 564, |
| 566, |
| 568, |
| 570, |
| 572, |
| 574, |
| 576, |
| 578, |
| 580, |
| 582, |
| 584, |
| 586, |
| 588, |
| 590, |
| 592, |
| 594, |
| 596, |
| 598, |
| 600, |
| 602, |
| 604, |
| 606, |
| 608, |
| 610, |
| 612, |
| 614, |
| 616, |
| 618, |
| 620, |
| 622, |
| 624, |
| 626, |
| 628, |
| 630, |
| 632, |
| 634, |
| 636, |
| 638, |
| 640, |
| 642, |
| 644, |
| 646, |
| 648, |
| 650, |
| 652, |
| 654, |
| 656, |
| 658, |
| 660, |
| 662, |
| 664, |
| 666, |
| 668, |
| 670, |
| 672, |
| 674, |
| 676, |
| 678, |
| 680, |
| 682, |
| 684, |
| 686, |
| 688, |
| 690, |
| 692, |
| 694, |
| 696, |
| 698, |
| 700, |
| 702, |
| 704, |
| 706, |
| 708, |
| 710, |
| 712, |
| 714, |
| 716, |
| 718, |
| 720, |
| 722, |
| 724, |
| 726, |
| 728, |
| 730, |
| 732, |
| 734, |
| 736, |
| 738, |
| 740, |
| 742, |
| 744, |
| 746, |
| 748, |
| 750, |
| 752, |
| 754, |
| 756, |
| 758, |
| 760, |
| 762, |
| 764, |
| 766, |
| 768, |
| 770, |
| 772, |
| 774, |
| 776 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fbdfd-df4a-7b32-9782-591df3c6ecc2": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 0.3, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 15, |
| "task": "fold_laundry", |
| "n_steps": 424, |
| "n_state_invalid": 44, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "grey cloth" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 4, |
| 8, |
| 12, |
| 16, |
| 20, |
| 24, |
| 28, |
| 32, |
| 36, |
| 40, |
| 44, |
| 48, |
| 52, |
| 56, |
| 60, |
| 64, |
| 68, |
| 72, |
| 76, |
| 80, |
| 84, |
| 88, |
| 92, |
| 96, |
| 100, |
| 104, |
| 108, |
| 112, |
| 116, |
| 120, |
| 124, |
| 128, |
| 132, |
| 136, |
| 140, |
| 144, |
| 148, |
| 152, |
| 156, |
| 160, |
| 164, |
| 168, |
| 172, |
| 176, |
| 180, |
| 184, |
| 188, |
| 192, |
| 196, |
| 200, |
| 204, |
| 208, |
| 212, |
| 216, |
| 220, |
| 224, |
| 228, |
| 232, |
| 236, |
| 240, |
| 244, |
| 248, |
| 252, |
| 256, |
| 260, |
| 264, |
| 268, |
| 272, |
| 276, |
| 280, |
| 284, |
| 288, |
| 292, |
| 296, |
| 300, |
| 304, |
| 308, |
| 312, |
| 316, |
| 320, |
| 324, |
| 328, |
| 332, |
| 336, |
| 340, |
| 344, |
| 348, |
| 352, |
| 356, |
| 360, |
| 364, |
| 368, |
| 372, |
| 376, |
| 380, |
| 384, |
| 388, |
| 392, |
| 396, |
| 400, |
| 404, |
| 408, |
| 412, |
| 416, |
| 420, |
| 424, |
| 428, |
| 432, |
| 436, |
| 440, |
| 444, |
| 448, |
| 452, |
| 456, |
| 460, |
| 464, |
| 468, |
| 472, |
| 476, |
| 480, |
| 484, |
| 488, |
| 492, |
| 496, |
| 500, |
| 504, |
| 508, |
| 512, |
| 516, |
| 520, |
| 524, |
| 528, |
| 532, |
| 536, |
| 540, |
| 544, |
| 548, |
| 552, |
| 556, |
| 560, |
| 564, |
| 568, |
| 572, |
| 576, |
| 580, |
| 584, |
| 588, |
| 592, |
| 596, |
| 600, |
| 604, |
| 608, |
| 612, |
| 616, |
| 620, |
| 624, |
| 628, |
| 632, |
| 636, |
| 640, |
| 644, |
| 648, |
| 652, |
| 656, |
| 660, |
| 664, |
| 668, |
| 672, |
| 676, |
| 680, |
| 684, |
| 688, |
| 692, |
| 696, |
| 700, |
| 704, |
| 708, |
| 712, |
| 716, |
| 720, |
| 724, |
| 728, |
| 732, |
| 736, |
| 740, |
| 744, |
| 748, |
| 752, |
| 756, |
| 760, |
| 764, |
| 768, |
| 772, |
| 776, |
| 780, |
| 784, |
| 788, |
| 792, |
| 796, |
| 800, |
| 804, |
| 808, |
| 812, |
| 816, |
| 820, |
| 824, |
| 828, |
| 832, |
| 836, |
| 840, |
| 844, |
| 848, |
| 852, |
| 856, |
| 860, |
| 864, |
| 868, |
| 872, |
| 876, |
| 880, |
| 884, |
| 888, |
| 892, |
| 896, |
| 900, |
| 904, |
| 908, |
| 912, |
| 916, |
| 920, |
| 924, |
| 928, |
| 932, |
| 936, |
| 940, |
| 944, |
| 948, |
| 952, |
| 956, |
| 960, |
| 964, |
| 968, |
| 972, |
| 976, |
| 980, |
| 984, |
| 988, |
| 992, |
| 996, |
| 1000, |
| 1004, |
| 1008, |
| 1012, |
| 1016, |
| 1020, |
| 1024, |
| 1028, |
| 1032, |
| 1036, |
| 1040, |
| 1044, |
| 1048, |
| 1052, |
| 1056, |
| 1060, |
| 1064, |
| 1068, |
| 1072, |
| 1076, |
| 1080, |
| 1084, |
| 1088, |
| 1092, |
| 1096, |
| 1100, |
| 1104, |
| 1108, |
| 1112, |
| 1116, |
| 1120, |
| 1124, |
| 1128, |
| 1132, |
| 1136, |
| 1140, |
| 1144, |
| 1148, |
| 1152, |
| 1156, |
| 1160, |
| 1164, |
| 1168, |
| 1172, |
| 1176, |
| 1180, |
| 1184, |
| 1188, |
| 1192, |
| 1196, |
| 1200, |
| 1204, |
| 1208, |
| 1212, |
| 1216, |
| 1220, |
| 1224, |
| 1228, |
| 1232, |
| 1236, |
| 1240, |
| 1244, |
| 1248, |
| 1252, |
| 1256, |
| 1260, |
| 1264, |
| 1268, |
| 1272, |
| 1276, |
| 1280, |
| 1284, |
| 1288, |
| 1292, |
| 1296, |
| 1300, |
| 1304, |
| 1308, |
| 1312, |
| 1316, |
| 1320, |
| 1324, |
| 1328, |
| 1332, |
| 1336, |
| 1340, |
| 1344, |
| 1348, |
| 1352, |
| 1356, |
| 1360, |
| 1364, |
| 1368, |
| 1372, |
| 1376, |
| 1380, |
| 1384, |
| 1388, |
| 1392, |
| 1396, |
| 1400, |
| 1404, |
| 1408, |
| 1412, |
| 1416, |
| 1420, |
| 1424, |
| 1428, |
| 1432, |
| 1436, |
| 1440, |
| 1444, |
| 1448, |
| 1452, |
| 1456, |
| 1460, |
| 1464, |
| 1468, |
| 1472, |
| 1476, |
| 1480, |
| 1484, |
| 1488, |
| 1492, |
| 1496, |
| 1500, |
| 1504, |
| 1508, |
| 1512, |
| 1516, |
| 1520, |
| 1524, |
| 1528, |
| 1532, |
| 1536, |
| 1540, |
| 1544, |
| 1548, |
| 1552, |
| 1556, |
| 1560, |
| 1564, |
| 1568, |
| 1572, |
| 1576, |
| 1580, |
| 1584, |
| 1588, |
| 1592, |
| 1596, |
| 1600, |
| 1604, |
| 1608, |
| 1612, |
| 1616, |
| 1620, |
| 1624, |
| 1628, |
| 1632, |
| 1636, |
| 1640, |
| 1644, |
| 1648, |
| 1652, |
| 1656, |
| 1660, |
| 1664, |
| 1668, |
| 1672, |
| 1676, |
| 1680, |
| 1684, |
| 1688, |
| 1692 |
| ], |
| "source_fps": 60.0 |
| }, |
| "019fbdf5-daab-71d2-a055-5c72e44d1c09": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 16.2, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 16, |
| "task": "fold_laundry", |
| "n_steps": 305, |
| "n_state_invalid": 53, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "denim shorts" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 4, |
| 8, |
| 12, |
| 16, |
| 20, |
| 24, |
| 28, |
| 32, |
| 36, |
| 40, |
| 44, |
| 48, |
| 52, |
| 56, |
| 60, |
| 64, |
| 68, |
| 72, |
| 76, |
| 80, |
| 84, |
| 88, |
| 92, |
| 96, |
| 100, |
| 104, |
| 108, |
| 112, |
| 116, |
| 120, |
| 124, |
| 128, |
| 132, |
| 136, |
| 140, |
| 144, |
| 148, |
| 152, |
| 156, |
| 160, |
| 164, |
| 168, |
| 172, |
| 176, |
| 180, |
| 184, |
| 188, |
| 192, |
| 196, |
| 200, |
| 204, |
| 208, |
| 212, |
| 216, |
| 220, |
| 224, |
| 228, |
| 232, |
| 236, |
| 240, |
| 244, |
| 248, |
| 252, |
| 256, |
| 260, |
| 264, |
| 268, |
| 272, |
| 276, |
| 280, |
| 284, |
| 288, |
| 292, |
| 296, |
| 300, |
| 304, |
| 308, |
| 312, |
| 316, |
| 320, |
| 324, |
| 328, |
| 332, |
| 336, |
| 340, |
| 344, |
| 348, |
| 352, |
| 356, |
| 360, |
| 364, |
| 368, |
| 372, |
| 376, |
| 380, |
| 384, |
| 388, |
| 392, |
| 396, |
| 400, |
| 404, |
| 408, |
| 412, |
| 416, |
| 420, |
| 424, |
| 428, |
| 432, |
| 436, |
| 440, |
| 444, |
| 448, |
| 452, |
| 456, |
| 460, |
| 464, |
| 468, |
| 472, |
| 476, |
| 480, |
| 484, |
| 488, |
| 492, |
| 496, |
| 500, |
| 504, |
| 508, |
| 512, |
| 516, |
| 520, |
| 524, |
| 528, |
| 532, |
| 536, |
| 540, |
| 544, |
| 548, |
| 552, |
| 556, |
| 560, |
| 564, |
| 568, |
| 572, |
| 576, |
| 580, |
| 584, |
| 588, |
| 592, |
| 596, |
| 600, |
| 604, |
| 608, |
| 612, |
| 616, |
| 620, |
| 624, |
| 628, |
| 632, |
| 636, |
| 640, |
| 644, |
| 648, |
| 652, |
| 656, |
| 660, |
| 664, |
| 668, |
| 672, |
| 676, |
| 680, |
| 684, |
| 688, |
| 692, |
| 696, |
| 700, |
| 704, |
| 708, |
| 712, |
| 716, |
| 720, |
| 724, |
| 728, |
| 732, |
| 736, |
| 740, |
| 744, |
| 748, |
| 752, |
| 756, |
| 760, |
| 764, |
| 768, |
| 772, |
| 776, |
| 780, |
| 784, |
| 788, |
| 792, |
| 796, |
| 800, |
| 804, |
| 808, |
| 812, |
| 816, |
| 820, |
| 824, |
| 828, |
| 832, |
| 836, |
| 840, |
| 844, |
| 848, |
| 852, |
| 856, |
| 860, |
| 864, |
| 868, |
| 872, |
| 876, |
| 880, |
| 884, |
| 888, |
| 892, |
| 896, |
| 900, |
| 904, |
| 908, |
| 912, |
| 916, |
| 920, |
| 924, |
| 928, |
| 932, |
| 936, |
| 940, |
| 944, |
| 948, |
| 952, |
| 956, |
| 960, |
| 964, |
| 968, |
| 972, |
| 976, |
| 980, |
| 984, |
| 988, |
| 992, |
| 996, |
| 1000, |
| 1004, |
| 1008, |
| 1012, |
| 1016, |
| 1020, |
| 1024, |
| 1028, |
| 1032, |
| 1036, |
| 1040, |
| 1044, |
| 1048, |
| 1052, |
| 1056, |
| 1060, |
| 1064, |
| 1068, |
| 1072, |
| 1076, |
| 1080, |
| 1084, |
| 1088, |
| 1092, |
| 1096, |
| 1100, |
| 1104, |
| 1108, |
| 1112, |
| 1116, |
| 1120, |
| 1124, |
| 1128, |
| 1132, |
| 1136, |
| 1140, |
| 1144, |
| 1148, |
| 1152, |
| 1156, |
| 1160, |
| 1164, |
| 1168, |
| 1172, |
| 1176, |
| 1180, |
| 1184, |
| 1188, |
| 1192, |
| 1196, |
| 1200, |
| 1204, |
| 1208, |
| 1212, |
| 1216 |
| ], |
| "source_fps": 60.0 |
| }, |
| "019fbdf4-04e8-7030-9358-724279af9698": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 8.5, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 17, |
| "task": "fold_laundry", |
| "n_steps": 279, |
| "n_state_invalid": 50, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "jeans" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 4, |
| 8, |
| 12, |
| 16, |
| 20, |
| 24, |
| 28, |
| 32, |
| 36, |
| 40, |
| 44, |
| 48, |
| 52, |
| 56, |
| 60, |
| 64, |
| 68, |
| 72, |
| 76, |
| 80, |
| 84, |
| 88, |
| 92, |
| 96, |
| 100, |
| 104, |
| 108, |
| 112, |
| 116, |
| 120, |
| 124, |
| 128, |
| 132, |
| 136, |
| 140, |
| 144, |
| 148, |
| 152, |
| 156, |
| 160, |
| 164, |
| 168, |
| 172, |
| 176, |
| 180, |
| 184, |
| 188, |
| 192, |
| 196, |
| 200, |
| 204, |
| 208, |
| 212, |
| 216, |
| 220, |
| 224, |
| 228, |
| 232, |
| 236, |
| 240, |
| 244, |
| 248, |
| 252, |
| 256, |
| 260, |
| 264, |
| 268, |
| 272, |
| 276, |
| 280, |
| 284, |
| 288, |
| 292, |
| 296, |
| 300, |
| 304, |
| 308, |
| 312, |
| 316, |
| 320, |
| 324, |
| 328, |
| 332, |
| 336, |
| 340, |
| 344, |
| 348, |
| 352, |
| 356, |
| 360, |
| 364, |
| 368, |
| 372, |
| 376, |
| 380, |
| 384, |
| 388, |
| 392, |
| 396, |
| 400, |
| 404, |
| 408, |
| 412, |
| 416, |
| 420, |
| 424, |
| 428, |
| 432, |
| 436, |
| 440, |
| 444, |
| 448, |
| 452, |
| 456, |
| 460, |
| 464, |
| 468, |
| 472, |
| 476, |
| 480, |
| 484, |
| 488, |
| 492, |
| 496, |
| 500, |
| 504, |
| 508, |
| 512, |
| 516, |
| 520, |
| 524, |
| 528, |
| 532, |
| 536, |
| 540, |
| 544, |
| 548, |
| 552, |
| 556, |
| 560, |
| 564, |
| 568, |
| 572, |
| 576, |
| 580, |
| 584, |
| 588, |
| 592, |
| 596, |
| 600, |
| 604, |
| 608, |
| 612, |
| 616, |
| 620, |
| 624, |
| 628, |
| 632, |
| 636, |
| 640, |
| 644, |
| 648, |
| 652, |
| 656, |
| 660, |
| 664, |
| 668, |
| 672, |
| 676, |
| 680, |
| 684, |
| 688, |
| 692, |
| 696, |
| 700, |
| 704, |
| 708, |
| 712, |
| 716, |
| 720, |
| 724, |
| 728, |
| 732, |
| 736, |
| 740, |
| 744, |
| 748, |
| 752, |
| 756, |
| 760, |
| 764, |
| 768, |
| 772, |
| 776, |
| 780, |
| 784, |
| 788, |
| 792, |
| 796, |
| 800, |
| 804, |
| 808, |
| 812, |
| 816, |
| 820, |
| 824, |
| 828, |
| 832, |
| 836, |
| 840, |
| 844, |
| 848, |
| 852, |
| 856, |
| 860, |
| 864, |
| 868, |
| 872, |
| 876, |
| 880, |
| 884, |
| 888, |
| 892, |
| 896, |
| 900, |
| 904, |
| 908, |
| 912, |
| 916, |
| 920, |
| 924, |
| 928, |
| 932, |
| 936, |
| 940, |
| 944, |
| 948, |
| 952, |
| 956, |
| 960, |
| 964, |
| 968, |
| 972, |
| 976, |
| 980, |
| 984, |
| 988, |
| 992, |
| 996, |
| 1000, |
| 1004, |
| 1008, |
| 1012, |
| 1016, |
| 1020, |
| 1024, |
| 1028, |
| 1032, |
| 1036, |
| 1040, |
| 1044, |
| 1048, |
| 1052, |
| 1056, |
| 1060, |
| 1064, |
| 1068, |
| 1072, |
| 1076, |
| 1080, |
| 1084, |
| 1088, |
| 1092, |
| 1096, |
| 1100, |
| 1104, |
| 1108, |
| 1112 |
| ], |
| "source_fps": 60.0 |
| }, |
| "019fbdf1-dadb-7400-bca3-1382d9d9c666": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 3.3, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 18, |
| "task": "fold_laundry", |
| "n_steps": 211, |
| "n_state_invalid": 61, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "shorts" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 4, |
| 8, |
| 12, |
| 16, |
| 20, |
| 24, |
| 28, |
| 32, |
| 36, |
| 40, |
| 44, |
| 48, |
| 52, |
| 56, |
| 60, |
| 64, |
| 68, |
| 72, |
| 76, |
| 80, |
| 84, |
| 88, |
| 92, |
| 96, |
| 100, |
| 104, |
| 108, |
| 112, |
| 116, |
| 120, |
| 124, |
| 128, |
| 132, |
| 136, |
| 140, |
| 144, |
| 148, |
| 152, |
| 156, |
| 160, |
| 164, |
| 168, |
| 172, |
| 176, |
| 180, |
| 184, |
| 188, |
| 192, |
| 196, |
| 200, |
| 204, |
| 208, |
| 212, |
| 216, |
| 220, |
| 224, |
| 228, |
| 232, |
| 236, |
| 240, |
| 244, |
| 248, |
| 252, |
| 256, |
| 260, |
| 264, |
| 268, |
| 272, |
| 276, |
| 280, |
| 284, |
| 288, |
| 292, |
| 296, |
| 300, |
| 304, |
| 308, |
| 312, |
| 316, |
| 320, |
| 324, |
| 328, |
| 332, |
| 336, |
| 340, |
| 344, |
| 348, |
| 352, |
| 356, |
| 360, |
| 364, |
| 368, |
| 372, |
| 376, |
| 380, |
| 384, |
| 388, |
| 392, |
| 396, |
| 400, |
| 404, |
| 408, |
| 412, |
| 416, |
| 420, |
| 424, |
| 428, |
| 432, |
| 436, |
| 440, |
| 444, |
| 448, |
| 452, |
| 456, |
| 460, |
| 464, |
| 468, |
| 472, |
| 476, |
| 480, |
| 484, |
| 488, |
| 492, |
| 496, |
| 500, |
| 504, |
| 508, |
| 512, |
| 516, |
| 520, |
| 524, |
| 528, |
| 532, |
| 536, |
| 540, |
| 544, |
| 548, |
| 552, |
| 556, |
| 560, |
| 564, |
| 568, |
| 572, |
| 576, |
| 580, |
| 584, |
| 588, |
| 592, |
| 596, |
| 600, |
| 604, |
| 608, |
| 612, |
| 616, |
| 620, |
| 624, |
| 628, |
| 632, |
| 636, |
| 640, |
| 644, |
| 648, |
| 652, |
| 656, |
| 660, |
| 664, |
| 668, |
| 672, |
| 676, |
| 680, |
| 684, |
| 688, |
| 692, |
| 696, |
| 700, |
| 704, |
| 708, |
| 712, |
| 716, |
| 720, |
| 724, |
| 728, |
| 732, |
| 736, |
| 740, |
| 744, |
| 748, |
| 752, |
| 756, |
| 760, |
| 764, |
| 768, |
| 772, |
| 776, |
| 780, |
| 784, |
| 788, |
| 792, |
| 796, |
| 800, |
| 804, |
| 808, |
| 812, |
| 816, |
| 820, |
| 824, |
| 828, |
| 832, |
| 836, |
| 840 |
| ], |
| "source_fps": 60.0 |
| }, |
| "019fc1d5-6845-7442-98c2-545d93c1b2e4": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 2.3, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 19, |
| "task": "sweep", |
| "n_steps": 304, |
| "n_state_invalid": 137, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_labels": [ |
| "broom", |
| "dustpan" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 4, |
| 8, |
| 12, |
| 16, |
| 20, |
| 24, |
| 28, |
| 32, |
| 36, |
| 40, |
| 44, |
| 48, |
| 52, |
| 56, |
| 60, |
| 64, |
| 68, |
| 72, |
| 76, |
| 80, |
| 84, |
| 88, |
| 92, |
| 96, |
| 100, |
| 104, |
| 108, |
| 112, |
| 116, |
| 120, |
| 124, |
| 128, |
| 132, |
| 136, |
| 140, |
| 144, |
| 148, |
| 152, |
| 156, |
| 160, |
| 164, |
| 168, |
| 172, |
| 176, |
| 180, |
| 184, |
| 188, |
| 192, |
| 196, |
| 200, |
| 204, |
| 208, |
| 212, |
| 216, |
| 220, |
| 224, |
| 228, |
| 232, |
| 236, |
| 240, |
| 244, |
| 248, |
| 252, |
| 256, |
| 260, |
| 264, |
| 268, |
| 272, |
| 276, |
| 280, |
| 284, |
| 288, |
| 292, |
| 296, |
| 300, |
| 304, |
| 308, |
| 312, |
| 316, |
| 320, |
| 324, |
| 328, |
| 332, |
| 336, |
| 340, |
| 344, |
| 348, |
| 352, |
| 356, |
| 360, |
| 364, |
| 368, |
| 372, |
| 376, |
| 380, |
| 384, |
| 388, |
| 392, |
| 396, |
| 400, |
| 404, |
| 408, |
| 412, |
| 416, |
| 420, |
| 424, |
| 428, |
| 432, |
| 436, |
| 440, |
| 444, |
| 448, |
| 452, |
| 456, |
| 460, |
| 464, |
| 468, |
| 472, |
| 476, |
| 480, |
| 484, |
| 488, |
| 492, |
| 496, |
| 500, |
| 504, |
| 508, |
| 512, |
| 516, |
| 520, |
| 524, |
| 528, |
| 532, |
| 536, |
| 540, |
| 544, |
| 548, |
| 552, |
| 556, |
| 560, |
| 564, |
| 568, |
| 572, |
| 576, |
| 580, |
| 584, |
| 588, |
| 592, |
| 596, |
| 600, |
| 604, |
| 608, |
| 612, |
| 616, |
| 620, |
| 624, |
| 628, |
| 632, |
| 636, |
| 640, |
| 644, |
| 648, |
| 652, |
| 656, |
| 660, |
| 664, |
| 668, |
| 672, |
| 676, |
| 680, |
| 684, |
| 688, |
| 692, |
| 696, |
| 700, |
| 704, |
| 708, |
| 712, |
| 716, |
| 720, |
| 724, |
| 728, |
| 732, |
| 736, |
| 740, |
| 744, |
| 748, |
| 752, |
| 756, |
| 760, |
| 764, |
| 768, |
| 772, |
| 776, |
| 780, |
| 784, |
| 788, |
| 792, |
| 796, |
| 800, |
| 804, |
| 808, |
| 812, |
| 816, |
| 820, |
| 824, |
| 828, |
| 832, |
| 836, |
| 840, |
| 844, |
| 848, |
| 852, |
| 856, |
| 860, |
| 864, |
| 868, |
| 872, |
| 876, |
| 880, |
| 884, |
| 888, |
| 892, |
| 896, |
| 900, |
| 904, |
| 908, |
| 912, |
| 916, |
| 920, |
| 924, |
| 928, |
| 932, |
| 936, |
| 940, |
| 944, |
| 948, |
| 952, |
| 956, |
| 960, |
| 964, |
| 968, |
| 972, |
| 976, |
| 980, |
| 984, |
| 988, |
| 992, |
| 996, |
| 1000, |
| 1004, |
| 1008, |
| 1012, |
| 1016, |
| 1020, |
| 1024, |
| 1028, |
| 1032, |
| 1036, |
| 1040, |
| 1044, |
| 1048, |
| 1052, |
| 1056, |
| 1060, |
| 1064, |
| 1068, |
| 1072, |
| 1076, |
| 1080, |
| 1084, |
| 1088, |
| 1092, |
| 1096, |
| 1100, |
| 1104, |
| 1108, |
| 1112, |
| 1116, |
| 1120, |
| 1124, |
| 1128, |
| 1132, |
| 1136, |
| 1140, |
| 1144, |
| 1148, |
| 1152, |
| 1156, |
| 1160, |
| 1164, |
| 1168, |
| 1172, |
| 1176, |
| 1180, |
| 1184, |
| 1188, |
| 1192, |
| 1196, |
| 1200, |
| 1204, |
| 1208, |
| 1212 |
| ], |
| "source_fps": 60.0 |
| }, |
| "019fc1d4-2816-7400-972c-0a6a7afcead5": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 2.3, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 20, |
| "task": "sweep", |
| "n_steps": 184, |
| "n_state_invalid": 50, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_brush", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_brush", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_labels": [ |
| "hand brush", |
| "dustpan" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 4, |
| 8, |
| 12, |
| 16, |
| 20, |
| 24, |
| 28, |
| 32, |
| 36, |
| 40, |
| 44, |
| 48, |
| 52, |
| 56, |
| 60, |
| 64, |
| 68, |
| 72, |
| 76, |
| 80, |
| 84, |
| 88, |
| 92, |
| 96, |
| 100, |
| 104, |
| 108, |
| 112, |
| 116, |
| 120, |
| 124, |
| 128, |
| 132, |
| 136, |
| 140, |
| 144, |
| 148, |
| 152, |
| 156, |
| 160, |
| 164, |
| 168, |
| 172, |
| 176, |
| 180, |
| 184, |
| 188, |
| 192, |
| 196, |
| 200, |
| 204, |
| 208, |
| 212, |
| 216, |
| 220, |
| 224, |
| 228, |
| 232, |
| 236, |
| 240, |
| 244, |
| 248, |
| 252, |
| 256, |
| 260, |
| 264, |
| 268, |
| 272, |
| 276, |
| 280, |
| 284, |
| 288, |
| 292, |
| 296, |
| 300, |
| 304, |
| 308, |
| 312, |
| 316, |
| 320, |
| 324, |
| 328, |
| 332, |
| 336, |
| 340, |
| 344, |
| 348, |
| 352, |
| 356, |
| 360, |
| 364, |
| 368, |
| 372, |
| 376, |
| 380, |
| 384, |
| 388, |
| 392, |
| 396, |
| 400, |
| 404, |
| 408, |
| 412, |
| 416, |
| 420, |
| 424, |
| 428, |
| 432, |
| 436, |
| 440, |
| 444, |
| 448, |
| 452, |
| 456, |
| 460, |
| 464, |
| 468, |
| 472, |
| 476, |
| 480, |
| 484, |
| 488, |
| 492, |
| 496, |
| 500, |
| 504, |
| 508, |
| 512, |
| 516, |
| 520, |
| 524, |
| 528, |
| 532, |
| 536, |
| 540, |
| 544, |
| 548, |
| 552, |
| 556, |
| 560, |
| 564, |
| 568, |
| 572, |
| 576, |
| 580, |
| 584, |
| 588, |
| 592, |
| 596, |
| 600, |
| 604, |
| 608, |
| 612, |
| 616, |
| 620, |
| 624, |
| 628, |
| 632, |
| 636, |
| 640, |
| 644, |
| 648, |
| 652, |
| 656, |
| 660, |
| 664, |
| 668, |
| 672, |
| 676, |
| 680, |
| 684, |
| 688, |
| 692, |
| 696, |
| 700, |
| 704, |
| 708, |
| 712, |
| 716, |
| 720, |
| 724, |
| 728, |
| 732 |
| ], |
| "source_fps": 60.0 |
| }, |
| "019fc1d3-0c5f-7123-9b23-2b83958011bc": { |
| "raster_rotation": "ccw90", |
| "orientation": "landscape", |
| "pose_correction_quarter_turns": 0, |
| "gravity_angle_deg": 3.4, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 21, |
| "task": "sweep", |
| "n_steps": 176, |
| "n_state_invalid": 71, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_brush", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_brush", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_labels": [ |
| "hand brush", |
| "dustpan" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 4, |
| 8, |
| 12, |
| 16, |
| 20, |
| 24, |
| 28, |
| 32, |
| 36, |
| 40, |
| 44, |
| 48, |
| 52, |
| 56, |
| 60, |
| 64, |
| 68, |
| 72, |
| 76, |
| 80, |
| 84, |
| 88, |
| 92, |
| 96, |
| 100, |
| 104, |
| 108, |
| 112, |
| 116, |
| 120, |
| 124, |
| 128, |
| 132, |
| 136, |
| 140, |
| 144, |
| 148, |
| 152, |
| 156, |
| 160, |
| 164, |
| 168, |
| 172, |
| 176, |
| 180, |
| 184, |
| 188, |
| 192, |
| 196, |
| 200, |
| 204, |
| 208, |
| 212, |
| 216, |
| 220, |
| 224, |
| 228, |
| 232, |
| 236, |
| 240, |
| 244, |
| 248, |
| 252, |
| 256, |
| 260, |
| 264, |
| 268, |
| 272, |
| 276, |
| 280, |
| 284, |
| 288, |
| 292, |
| 296, |
| 300, |
| 304, |
| 308, |
| 312, |
| 316, |
| 320, |
| 324, |
| 328, |
| 332, |
| 336, |
| 340, |
| 344, |
| 348, |
| 352, |
| 356, |
| 360, |
| 364, |
| 368, |
| 372, |
| 376, |
| 380, |
| 384, |
| 388, |
| 392, |
| 396, |
| 400, |
| 404, |
| 408, |
| 412, |
| 416, |
| 420, |
| 424, |
| 428, |
| 432, |
| 436, |
| 440, |
| 444, |
| 448, |
| 452, |
| 456, |
| 460, |
| 464, |
| 468, |
| 472, |
| 476, |
| 480, |
| 484, |
| 488, |
| 492, |
| 496, |
| 500, |
| 504, |
| 508, |
| 512, |
| 516, |
| 520, |
| 524, |
| 528, |
| 532, |
| 536, |
| 540, |
| 544, |
| 548, |
| 552, |
| 556, |
| 560, |
| 564, |
| 568, |
| 572, |
| 576, |
| 580, |
| 584, |
| 588, |
| 592, |
| 596, |
| 600, |
| 604, |
| 608, |
| 612, |
| 616, |
| 620, |
| 624, |
| 628, |
| 632, |
| 636, |
| 640, |
| 644, |
| 648, |
| 652, |
| 656, |
| 660, |
| 664, |
| 668, |
| 672, |
| 676, |
| 680, |
| 684, |
| 688, |
| 692, |
| 696, |
| 700 |
| ], |
| "source_fps": 60.0 |
| }, |
| "019fc1d0-a295-7b91-a54d-9180e2e55923": { |
| "raster_rotation": "ccw90", |
| "orientation": "landscape", |
| "pose_correction_quarter_turns": 0, |
| "gravity_angle_deg": 0.9, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 22, |
| "task": "fold_laundry", |
| "n_steps": 177, |
| "n_state_invalid": 44, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "shorts" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fc1cf-8569-7a31-a1b4-9675cfc6406e": { |
| "raster_rotation": "ccw90", |
| "orientation": "landscape", |
| "pose_correction_quarter_turns": 0, |
| "gravity_angle_deg": 0.4, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 23, |
| "task": "fold_laundry", |
| "n_steps": 175, |
| "n_state_invalid": 41, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "shorts" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fc1ce-600a-74a1-a6fe-f039b19a391a": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 2.6, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 24, |
| "task": "fold_laundry", |
| "n_steps": 205, |
| "n_state_invalid": 47, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "shorts" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fc1cd-270e-7253-9c58-d78525e76e65": { |
| "raster_rotation": "ccw90", |
| "orientation": "landscape", |
| "pose_correction_quarter_turns": 0, |
| "gravity_angle_deg": 0.5, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 25, |
| "task": "fold_laundry", |
| "n_steps": 185, |
| "n_state_invalid": 44, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_ids": [ |
| "1" |
| ], |
| "contact_slot_object_labels": [ |
| "cloth" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fc1ca-727a-79a3-89f6-054b6a5ce283": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 14.2, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 26, |
| "task": "sweep", |
| "n_steps": 201, |
| "n_state_invalid": 67, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_labels": [ |
| "broom", |
| "dustpan" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 49, |
| 50, |
| 51, |
| 52, |
| 53, |
| 54, |
| 55, |
| 56, |
| 57, |
| 58, |
| 59, |
| 60, |
| 61, |
| 62, |
| 63, |
| 64, |
| 65, |
| 66, |
| 67, |
| 68, |
| 69, |
| 70, |
| 71, |
| 72, |
| 73, |
| 74, |
| 75, |
| 76, |
| 77, |
| 78, |
| 79, |
| 80, |
| 81, |
| 82, |
| 83, |
| 84, |
| 85, |
| 86, |
| 87, |
| 88, |
| 89, |
| 90, |
| 91, |
| 92, |
| 93, |
| 94, |
| 95, |
| 96, |
| 97, |
| 98, |
| 99, |
| 100, |
| 101, |
| 102, |
| 103, |
| 104, |
| 105, |
| 106, |
| 107, |
| 108, |
| 109, |
| 110, |
| 111, |
| 112, |
| 113, |
| 114, |
| 115, |
| 116, |
| 117, |
| 118, |
| 119, |
| 120, |
| 121, |
| 122, |
| 123, |
| 124, |
| 125, |
| 126, |
| 127, |
| 128, |
| 129, |
| 130, |
| 131, |
| 132, |
| 133, |
| 134, |
| 135, |
| 136, |
| 137, |
| 138, |
| 139, |
| 140, |
| 141, |
| 142, |
| 143, |
| 144, |
| 145, |
| 146, |
| 147, |
| 148, |
| 149, |
| 150, |
| 151, |
| 152, |
| 153, |
| 154, |
| 155, |
| 156, |
| 157, |
| 158, |
| 159, |
| 160, |
| 161, |
| 162, |
| 163, |
| 164, |
| 165, |
| 166, |
| 167, |
| 168, |
| 169, |
| 170, |
| 171, |
| 172, |
| 173, |
| 174, |
| 175, |
| 176, |
| 177, |
| 178, |
| 179, |
| 180, |
| 181, |
| 182, |
| 183, |
| 184, |
| 185, |
| 186, |
| 187, |
| 188, |
| 189, |
| 190, |
| 191, |
| 192, |
| 192, |
| 193, |
| 194, |
| 195, |
| 196, |
| 197, |
| 198, |
| 199 |
| ], |
| "source_fps": 14.961052919881137 |
| }, |
| "019fc1be-ccad-7090-a09f-aa6b70e6b67a": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 24.6, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 27, |
| "task": "sweep", |
| "n_steps": 151, |
| "n_state_invalid": 84, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_labels": [ |
| "broom", |
| "dustpan" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 49, |
| 50, |
| 51, |
| 52, |
| 53, |
| 54, |
| 55, |
| 56, |
| 57, |
| 58, |
| 59, |
| 60, |
| 61, |
| 62, |
| 63, |
| 64, |
| 65, |
| 66, |
| 67, |
| 68, |
| 69, |
| 70, |
| 71, |
| 72, |
| 73, |
| 74, |
| 75, |
| 76, |
| 77, |
| 78, |
| 79, |
| 80, |
| 81, |
| 82, |
| 83, |
| 84, |
| 85, |
| 86, |
| 87, |
| 88, |
| 89, |
| 90, |
| 91, |
| 92, |
| 93, |
| 94, |
| 95, |
| 96, |
| 97, |
| 98, |
| 99, |
| 100, |
| 101, |
| 102, |
| 103, |
| 104, |
| 105, |
| 106, |
| 107, |
| 108, |
| 109, |
| 110, |
| 111, |
| 112, |
| 113, |
| 114, |
| 115, |
| 116, |
| 117, |
| 118, |
| 119, |
| 120, |
| 121, |
| 122, |
| 123, |
| 124, |
| 125, |
| 126, |
| 127, |
| 128, |
| 129, |
| 130, |
| 131, |
| 132, |
| 133, |
| 134, |
| 135, |
| 136, |
| 137, |
| 138, |
| 139, |
| 140, |
| 141, |
| 142, |
| 143, |
| 144, |
| 145, |
| 146, |
| 147, |
| 148, |
| 149, |
| 150 |
| ], |
| "source_fps": 14.998440849086508 |
| }, |
| "019fc1c5-8542-7800-b0c9-c1024cecc7a4": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 32.3, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 28, |
| "task": "sweep", |
| "n_steps": 236, |
| "n_state_invalid": 104, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_labels": [ |
| "broom", |
| "dustpan" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398, |
| 400, |
| 402, |
| 404, |
| 406, |
| 408, |
| 410, |
| 412, |
| 414, |
| 416, |
| 418, |
| 420, |
| 422, |
| 424, |
| 426, |
| 428, |
| 430, |
| 432, |
| 434, |
| 436, |
| 438, |
| 440, |
| 442, |
| 444, |
| 446, |
| 448, |
| 450, |
| 452, |
| 454, |
| 456, |
| 458, |
| 460, |
| 462, |
| 464, |
| 466, |
| 468, |
| 470 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fc1c9-3a11-7372-9833-b0ee6a16730b": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 17.5, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 29, |
| "task": "sweep", |
| "n_steps": 173, |
| "n_state_invalid": 88, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_labels": [ |
| "broom", |
| "dustpan" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fb7cd-b333-7b73-a360-149207d553c6": { |
| "raster_rotation": "ccw90", |
| "orientation": "landscape", |
| "pose_correction_quarter_turns": 0, |
| "gravity_angle_deg": 8.7, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 30, |
| "task": "sweep", |
| "n_steps": 200, |
| "n_state_invalid": 80, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_brush", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_brush", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_labels": [ |
| "small brush", |
| "dustpan" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344, |
| 346, |
| 348, |
| 350, |
| 352, |
| 354, |
| 356, |
| 358, |
| 360, |
| 362, |
| 364, |
| 366, |
| 368, |
| 370, |
| 372, |
| 374, |
| 376, |
| 378, |
| 380, |
| 382, |
| 384, |
| 386, |
| 388, |
| 390, |
| 392, |
| 394, |
| 396, |
| 398 |
| ], |
| "source_fps": 30.0 |
| }, |
| "019fc1c8-035c-7aa0-897d-8eb89e7a9317": { |
| "raster_rotation": null, |
| "orientation": "portrait", |
| "pose_correction_quarter_turns": 1, |
| "gravity_angle_deg": 15.9, |
| "state_source": "rtmpose_wrist_depth_lifted+hamer_grasp", |
| "episode_index": 31, |
| "task": "sweep", |
| "n_steps": 173, |
| "n_state_invalid": 103, |
| "action_frame": "world_metric", |
| "action_smoothed": true, |
| "state_smoothed": true, |
| "mano_frame": "wrist_rooted_camera_orientation", |
| "mano_joints_channel": "tip_smoothed", |
| "object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_ids": [ |
| "obj_broom", |
| "obj_dustpan" |
| ], |
| "contact_slot_object_labels": [ |
| "broom", |
| "dustpan" |
| ], |
| "source_frame_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42, |
| 44, |
| 46, |
| 48, |
| 50, |
| 52, |
| 54, |
| 56, |
| 58, |
| 60, |
| 62, |
| 64, |
| 66, |
| 68, |
| 70, |
| 72, |
| 74, |
| 76, |
| 78, |
| 80, |
| 82, |
| 84, |
| 86, |
| 88, |
| 90, |
| 92, |
| 94, |
| 96, |
| 98, |
| 100, |
| 102, |
| 104, |
| 106, |
| 108, |
| 110, |
| 112, |
| 114, |
| 116, |
| 118, |
| 120, |
| 122, |
| 124, |
| 126, |
| 128, |
| 130, |
| 132, |
| 134, |
| 136, |
| 138, |
| 140, |
| 142, |
| 144, |
| 146, |
| 148, |
| 150, |
| 152, |
| 154, |
| 156, |
| 158, |
| 160, |
| 162, |
| 164, |
| 166, |
| 168, |
| 170, |
| 172, |
| 174, |
| 176, |
| 178, |
| 180, |
| 182, |
| 184, |
| 186, |
| 188, |
| 190, |
| 192, |
| 194, |
| 196, |
| 198, |
| 200, |
| 202, |
| 204, |
| 206, |
| 208, |
| 210, |
| 212, |
| 214, |
| 216, |
| 218, |
| 220, |
| 222, |
| 224, |
| 226, |
| 228, |
| 230, |
| 232, |
| 234, |
| 236, |
| 238, |
| 240, |
| 242, |
| 244, |
| 246, |
| 248, |
| 250, |
| 252, |
| 254, |
| 256, |
| 258, |
| 260, |
| 262, |
| 264, |
| 266, |
| 268, |
| 270, |
| 272, |
| 274, |
| 276, |
| 278, |
| 280, |
| 282, |
| 284, |
| 286, |
| 288, |
| 290, |
| 292, |
| 294, |
| 296, |
| 298, |
| 300, |
| 302, |
| 304, |
| 306, |
| 308, |
| 310, |
| 312, |
| 314, |
| 316, |
| 318, |
| 320, |
| 322, |
| 324, |
| 326, |
| 328, |
| 330, |
| 332, |
| 334, |
| 336, |
| 338, |
| 340, |
| 342, |
| 344 |
| ], |
| "source_fps": 30.0 |
| } |
| } |
| } |