Add files using upload-large-folder tool

README.md

@@ -1,3 +1,99 @@
 ---
 license: mit
 ---
+
+# RoboReel
+
+Human demonstration videos and simulated robot trajectories for 10 manipulation tasks.
+
+## Layout
+
+```
+human_demos/
+  {pose_defined,with_distraction,no_distraction,excluded_human_demos_with_distraction}/<task>/<episode>/
+    depths.h5
+    egocentric.mp4  front.mp4  left.mp4  right.mp4
+robot_trajectories/
+  {with_distraction,no_distraction}/<task>/<episode>/
+    <timestamp>.h5
+    <timestamp>.json
+    0.mp4  base_camera.mp4  hand_camera.mp4  left_camera.mp4  overhead_camera.mp4  right_camera.mp4
+```
+
+## Episode counts
+
+| Task | `human_demos/ with_distraction` | `human_demos/ no_distraction` | `human_demos/ pose_defined` | `robot_trajectories/` (each subset) |
+|---|---|---|---|---|
+| `bowl_in_plate` | 100 | 100 | 100 | 100 |
+| `close_drawer` | 100 | 100 | 50 | 100 |
+| `empty_basket` | 100 | 100 | 100 | 100 |
+| `open_lid` | 100 | 100 | 100 | 100 |
+| `pick_cube` | 100 | 100 | 110 | 100 |
+| `press_toaster` | 100 | 100 | 100 | 100 |
+| `push_cube` | 100 | 100 | 100 | 100 |
+| `stack_cups` | 100 | 100 | 100 | 100 |
+| `toys_in_basket` | 100 | 100 | 100 | 100 |
+| `toys_in_drawer` | 100 | 100 | 100 (as `toy_drawer_close`) | 100 |
+
+`human_demos/pose_defined/push_cube` contains the same recordings as
+`human_demos/no_distraction/push_cube`.
+
+`human_demos/excluded_human_demos_with_distraction` holds 20 further with-distraction episodes
+per task (200 in total), numbered `0100`-`0119`, that are not part of the 100-episode
+`with_distraction` set.
+
+## Human demonstrations
+
+RGB video is stored only in the mp4 files (1280x720, 30 fps, H.264). `depths.h5` holds the
+depth video and calibration. It contains one group per camera (`egocentric`, `front`, `left`,
+`right`):
+
+| Path | Contents |
+|---|---|
+| `<cam>/depth/frames` | `uint16` depth, shape `(T, H, W)`: 720x1280 for `egocentric`, 768x1024 for the others |
+| `<cam>/depth/depth_scale` | Metres per depth unit |
+| `<cam>/depth/intrinsics`, `<cam>/rgb/intrinsics` | Camera intrinsics |
+| `<cam>/depth/distortion`, `<cam>/rgb/distortion` | Distortion coefficients; the `model` attribute names the model |
+| `<cam>/extrinsics/depth_to_rgb_R`, `depth_to_rgb_t` | Depth-to-RGB rotation and translation |
+| `<cam>/timestamps` | Per-frame capture time, seconds since the epoch |
+
+Files also carry `task_name` and `demo_id` attributes. These are recording metadata, so they
+may differ from the folder names and episode numbers. Use the folder paths as the task and
+episode labels.
+
+### Reading depth
+
+Depth is compressed with Bitshuffle and zstd, so `hdf5plugin` must be imported before reading:
+
+```python
+import hdf5plugin  # registers the compression filter
+import h5py
+
+with h5py.File("human_demos/no_distraction/push_cube/0000/depths.h5", "r") as f:
+    cam = f["front"]
+    depth_m = cam["depth/frames"][0] * cam["depth/depth_scale"][()]
+    timestamps = cam["timestamps"][()]
+```
+
+### Synchronisation and alignment
+
+- Cameras are not frame-aligned, and frame counts differ between cameras in the same episode.
+  Use `timestamps` to synchronise them.
+- Depth is not registered to RGB. Their intrinsics differ, and so does the resolution on
+  `front`, `left` and `right`. Use the calibration above to align them.
+
+## Robot trajectories
+
+Generated by motion planning in simulation with a Panda arm (`panda_wristcam_hd`) using
+`pd_joint_pos` control. Each `.json` file records the environment ID and settings for its
+episode; `with_distraction` episodes have `distract: true`.
+
+Each `.h5` file has one group, `traj_0`, including:
+
+| Path | Contents |
+|---|---|
+| `traj_0/actions` | Actions, shape `(T, 8)` |
+| `traj_0/obs` | State observations, length `T + 1` |
+| `traj_0/env_states/actors/<name>` | Per-object state, length `T + 1` |
+| `traj_0/env_states/articulations/panda_wristcam_hd` | Robot state, length `T + 1` |
+| `traj_0/rewards` | Per-step rewards, length `T` |

robot_trajectories/no_distraction/toys_in_drawer/0000/20260515_225403.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 1,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 538,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0001/20260515_225421.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 2,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 477,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0002/20260515_225438.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 3,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 551,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0003/20260515_225456.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 4,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 569,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0004/20260515_225515.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 5,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 480,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0007/20260515_225605.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 8,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 485,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0010/20260515_225655.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 11,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 473,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0012/20260515_225729.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 13,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 488,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0013/20260515_225746.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 14,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 478,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0014/20260515_225803.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 15,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 468,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0016/20260515_225836.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 17,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 473,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0020/20260515_225946.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 21,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 473,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0023/20260515_230035.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 24,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 479,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0025/20260515_230109.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 26,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 480,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0026/20260515_230126.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 27,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 473,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0027/20260515_230143.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 28,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 479,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0028/20260515_230201.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 29,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 522,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0029/20260515_230219.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 30,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 469,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0032/20260515_230313.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 33,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 571,
+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0034/20260515_230348.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
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+}

robot_trajectories/no_distraction/toys_in_drawer/0035/20260515_230406.json

@@ -0,0 +1,28 @@
+{
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+}

robot_trajectories/no_distraction/toys_in_drawer/0039/20260515_230518.json

@@ -0,0 +1,28 @@
+{
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+}

robot_trajectories/no_distraction/toys_in_drawer/0040/20260515_230534.json

@@ -0,0 +1,28 @@
+{
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+}

robot_trajectories/no_distraction/toys_in_drawer/0041/20260515_230551.json

@@ -0,0 +1,28 @@
+{
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+}

robot_trajectories/no_distraction/toys_in_drawer/0043/20260515_230626.json

@@ -0,0 +1,28 @@
+{
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+}

robot_trajectories/no_distraction/toys_in_drawer/0044/20260515_230643.json

@@ -0,0 +1,28 @@
+{
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0046/20260515_230718.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
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+      "render_mode": "rgb_array",
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0047/20260515_230735.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
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+      "render_mode": "rgb_array",
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+}

robot_trajectories/no_distraction/toys_in_drawer/0048/20260515_230752.json

@@ -0,0 +1,28 @@
+{
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+}

robot_trajectories/no_distraction/toys_in_drawer/0051/20260515_230846.json

@@ -0,0 +1,28 @@
+{
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+      "robot_uids": "panda_wristcam_hd",
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0052/20260515_230903.json

@@ -0,0 +1,28 @@
+{
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0054/20260515_230937.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
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+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0055/20260515_230954.json

@@ -0,0 +1,28 @@
+{
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0056/20260515_231011.json

@@ -0,0 +1,28 @@
+{
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+}

robot_trajectories/no_distraction/toys_in_drawer/0059/20260515_231103.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
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+      "robot_uids": "panda_wristcam_hd",
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0061/20260515_231137.json

@@ -0,0 +1,28 @@
+{
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+      "robot_uids": "panda_wristcam_hd",
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0062/20260515_231154.json

@@ -0,0 +1,28 @@
+{
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+      "robot_uids": "panda_wristcam_hd",
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0064/20260515_231231.json

@@ -0,0 +1,28 @@
+{
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0065/20260515_231248.json

@@ -0,0 +1,28 @@
+{
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0068/20260515_231340.json

@@ -0,0 +1,28 @@
+{
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0070/20260515_231414.json

@@ -0,0 +1,28 @@
+{
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+      "robot_uids": "panda_wristcam_hd",
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+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0073/20260515_231506.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
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+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
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+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0076/20260515_231558.json

@@ -0,0 +1,28 @@
+{
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+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0078/20260515_231631.json

@@ -0,0 +1,28 @@
+{
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+  },
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+  "episodes": [
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+      "episode_seed": 79,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
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+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0079/20260515_231648.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  "commit_info": null,
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0093/20260515_232049.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
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+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0095/20260515_232122.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 96,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0098/20260515_232215.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
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+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}

robot_trajectories/no_distraction/toys_in_drawer/0099/20260515_232233.json

@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "ObjectInDrawer-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 400
+  },
+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated object-in-drawer demonstration"
+}