Upload 1 episodes and parquets (2025-06-05 16:58:56)

generate_randomized_parquets.py

@@ -103,7 +103,7 @@ for ep in range(N_EPISODES):
     qpos_above[5] = 1
 
     # 2. Grasp
-    qpos_grasp = so100_ik(model, data, cube_center + np.array([0.04, -0.05, 0.145]), point_down=True)
+    qpos_grasp = so100_ik(model, data, cube_center + np.array([0.04, -0.04, 0.145]), point_down=True)
     qpos_grasp[3] = 1
     qpos_grasp[4] = -2
     qpos_grasp[5] = 1
@@ -113,9 +113,9 @@ for ep in range(N_EPISODES):
     qpos_closed[5] = -0.1
 
     # 4. Lift
-    qpos_lift = so100_ik(model, data, cube_center + np.array([0, 0, z_offset]), point_down=True)
-    qpos_lift[3] = 1
-    qpos_lift[4] = -1.5
+    qpos_lift = so100_ik(model, data, cube_center + np.array([0, 0, .3]), point_down=True)
+    # qpos_lift[3] = 1
+    # qpos_lift[4] = -1.5
     qpos_lift[5] = -0.1
 
     # 5. Move above bin (gripper closed)

randomized_parquets/randomized_parquets/episode_20250605_165854_000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:830eb43b7e97e79b531a3a84faf4fe755c4c6cd6c1e6a0aba470825a6e64d741
+size 38032

video_data/random_generated/episode_20250605_165854_000/arm_move_cam0.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12517c27a3c521ffbea31535a835379d0b1a56189d7330849a9a5d12bf472182
+size 558889