Add stack_green_cube_on_yellow_cube
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- stack_green_cube_on_yellow_cube/20261027T070035.096690Z/metadata.json +224 -0
- stack_green_cube_on_yellow_cube/20261027T070035.096690Z/samples.jsonl +0 -0
- stack_green_cube_on_yellow_cube/20261027T070035.096690Z/trajectory.npz +3 -0
- stack_green_cube_on_yellow_cube/20261027T070035.096690Z/videos/exterior.frames.jsonl +473 -0
- stack_green_cube_on_yellow_cube/20261027T070035.096690Z/videos/exterior.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T070035.096690Z/videos/wrist.frames.jsonl +473 -0
- stack_green_cube_on_yellow_cube/20261027T070035.096690Z/videos/wrist.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T070435.339823Z/metadata.json +224 -0
- stack_green_cube_on_yellow_cube/20261027T070435.339823Z/samples.jsonl +0 -0
- stack_green_cube_on_yellow_cube/20261027T070435.339823Z/trajectory.npz +3 -0
- stack_green_cube_on_yellow_cube/20261027T070435.339823Z/videos/exterior.frames.jsonl +481 -0
- stack_green_cube_on_yellow_cube/20261027T070435.339823Z/videos/exterior.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T070435.339823Z/videos/wrist.frames.jsonl +481 -0
- stack_green_cube_on_yellow_cube/20261027T070435.339823Z/videos/wrist.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T070541.618113Z/metadata.json +224 -0
- stack_green_cube_on_yellow_cube/20261027T070541.618113Z/samples.jsonl +0 -0
- stack_green_cube_on_yellow_cube/20261027T070541.618113Z/trajectory.npz +3 -0
- stack_green_cube_on_yellow_cube/20261027T070541.618113Z/videos/exterior.frames.jsonl +449 -0
- stack_green_cube_on_yellow_cube/20261027T070541.618113Z/videos/exterior.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T070541.618113Z/videos/wrist.frames.jsonl +449 -0
- stack_green_cube_on_yellow_cube/20261027T070541.618113Z/videos/wrist.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T070824.273443Z/metadata.json +224 -0
- stack_green_cube_on_yellow_cube/20261027T070824.273443Z/samples.jsonl +0 -0
- stack_green_cube_on_yellow_cube/20261027T070824.273443Z/trajectory.npz +3 -0
- stack_green_cube_on_yellow_cube/20261027T070824.273443Z/videos/exterior.frames.jsonl +450 -0
- stack_green_cube_on_yellow_cube/20261027T070824.273443Z/videos/exterior.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T070824.273443Z/videos/wrist.frames.jsonl +450 -0
- stack_green_cube_on_yellow_cube/20261027T070824.273443Z/videos/wrist.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T070919.028698Z/metadata.json +224 -0
- stack_green_cube_on_yellow_cube/20261027T070919.028698Z/samples.jsonl +0 -0
- stack_green_cube_on_yellow_cube/20261027T070919.028698Z/trajectory.npz +3 -0
- stack_green_cube_on_yellow_cube/20261027T070919.028698Z/videos/exterior.frames.jsonl +469 -0
- stack_green_cube_on_yellow_cube/20261027T070919.028698Z/videos/exterior.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T070919.028698Z/videos/wrist.frames.jsonl +469 -0
- stack_green_cube_on_yellow_cube/20261027T070919.028698Z/videos/wrist.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T071314.593572Z/metadata.json +224 -0
- stack_green_cube_on_yellow_cube/20261027T071314.593572Z/samples.jsonl +0 -0
- stack_green_cube_on_yellow_cube/20261027T071314.593572Z/trajectory.npz +3 -0
- stack_green_cube_on_yellow_cube/20261027T071314.593572Z/videos/exterior.frames.jsonl +481 -0
- stack_green_cube_on_yellow_cube/20261027T071314.593572Z/videos/exterior.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T071314.593572Z/videos/wrist.frames.jsonl +481 -0
- stack_green_cube_on_yellow_cube/20261027T071314.593572Z/videos/wrist.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T071425.032873Z/metadata.json +224 -0
- stack_green_cube_on_yellow_cube/20261027T071425.032873Z/samples.jsonl +0 -0
- stack_green_cube_on_yellow_cube/20261027T071425.032873Z/trajectory.npz +3 -0
- stack_green_cube_on_yellow_cube/20261027T071425.032873Z/videos/exterior.frames.jsonl +428 -0
- stack_green_cube_on_yellow_cube/20261027T071425.032873Z/videos/exterior.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T071425.032873Z/videos/wrist.frames.jsonl +428 -0
- stack_green_cube_on_yellow_cube/20261027T071425.032873Z/videos/wrist.mp4 +3 -0
- stack_green_cube_on_yellow_cube/20261027T072257.607906Z/metadata.json +224 -0
stack_green_cube_on_yellow_cube/20261027T070035.096690Z/metadata.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_id": "20261027T070035.096690Z",
|
| 4 |
+
"created_at": "2026-10-27T07:00:35.101703+00:00",
|
| 5 |
+
"config": {
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| 6 |
+
"rate": 15.0,
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| 7 |
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"horizon": 0.2,
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| 8 |
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"command_lead": 0.05,
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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"reference_tolerance": 0.02,
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| 15 |
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"max_velocity": 3.0,
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| 16 |
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| 17 |
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"pre_follow_max_error": 0.5,
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| 18 |
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"pre_follow_max_velocity": 0.1,
|
| 19 |
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"pre_follow_max_acceleration": 0.3,
|
| 20 |
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"gripper_deadband": 0.02,
|
| 21 |
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"gripper_accept_timeout": 0.5,
|
| 22 |
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"stop_timeout": 2.0,
|
| 23 |
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"stopped_velocity": 0.01,
|
| 24 |
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"joint_topic": "/gello_input/gello/joint_states",
|
| 25 |
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"gripper_topic": "/gello_input/gripper/gripper_client/target_gripper_width_percent",
|
| 26 |
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"output": "outputs/teleoperation"
|
| 27 |
+
},
|
| 28 |
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"system": {
|
| 29 |
+
"system": "droid",
|
| 30 |
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"arm": "Franka FR3",
|
| 31 |
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"gripper": "Robotiq 2F-85",
|
| 32 |
+
"joint_names": [
|
| 33 |
+
"fr3_joint1",
|
| 34 |
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"fr3_joint2",
|
| 35 |
+
"fr3_joint3",
|
| 36 |
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"fr3_joint4",
|
| 37 |
+
"fr3_joint5",
|
| 38 |
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"fr3_joint6",
|
| 39 |
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"fr3_joint7"
|
| 40 |
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],
|
| 41 |
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"joint_units": "rad",
|
| 42 |
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"position_units": "m",
|
| 43 |
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"base_frame": "fr3_link0",
|
| 44 |
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"control_frame": "Franka configured EE",
|
| 45 |
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"quaternion_order": "wxyz",
|
| 46 |
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"flange_to_ee": [
|
| 47 |
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[
|
| 48 |
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1.0,
|
| 49 |
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0.0,
|
| 50 |
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0.0,
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| 51 |
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0.0
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| 52 |
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],
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| 53 |
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[
|
| 54 |
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0.0,
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| 55 |
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1.0,
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| 56 |
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0.0,
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| 57 |
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0.0
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| 58 |
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],
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| 59 |
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[
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| 60 |
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0.0,
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| 61 |
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0.0,
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| 62 |
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1.0,
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| 63 |
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0.0
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| 64 |
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],
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| 65 |
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[
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| 66 |
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0.0,
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| 67 |
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0.0,
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| 68 |
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0.0,
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| 69 |
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1.0
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| 70 |
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]
|
| 71 |
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],
|
| 72 |
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"gripper_convention": "0=open, 1=closed",
|
| 73 |
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"gripper_closed_position": 0.7929,
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| 74 |
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"control_dt": 0.06666666666666667,
|
| 75 |
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"max_time_scale": 10.0,
|
| 76 |
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"joint_limits": {
|
| 77 |
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"lower": [
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| 78 |
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-2.9007,
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| 79 |
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-1.8361,
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| 80 |
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-3.077,
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| 82 |
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| 83 |
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0.4398,
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| 84 |
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-3.0508
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| 85 |
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],
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| 86 |
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"upper": [
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| 87 |
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2.9007,
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| 88 |
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| 89 |
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-0.1169,
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| 92 |
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| 93 |
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3.0508
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| 94 |
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],
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| 95 |
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"velocity": [
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| 96 |
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| 97 |
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| 98 |
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2.62,
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| 100 |
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5.26,
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| 101 |
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| 102 |
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| 103 |
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],
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| 104 |
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"acceleration": [
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| 105 |
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3.75,
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| 106 |
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| 107 |
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3.125,
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3.75,
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5.0,
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]
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| 113 |
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},
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| 114 |
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"cameras": {
|
| 115 |
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"wrist": {
|
| 116 |
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"name": "zed_m",
|
| 117 |
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"model": "zedm",
|
| 118 |
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"serial": 11214112
|
| 119 |
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},
|
| 120 |
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"exterior": {
|
| 121 |
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"name": "zed_2",
|
| 122 |
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"model": "zed2",
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| 123 |
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"serial": 25992879
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| 124 |
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}
|
| 125 |
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}
|
| 126 |
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},
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| 127 |
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"action_representation": "absolute_joint_positions_and_gripper_closedness",
|
| 128 |
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"proprioception_representation": "measured_joint_positions_and_gripper_closedness",
|
| 129 |
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"quaternion_order": "wxyz",
|
| 130 |
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"gripper_convention": "0=open, 1=closed",
|
| 131 |
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"time_alignment": "monotonic t0; source timestamps retained; frames are not index-synchronized",
|
| 132 |
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"success_label": null,
|
| 133 |
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"status": "completed",
|
| 134 |
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"sample_count": 473,
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| 135 |
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"started_at": "2026-10-27T07:00:35.832397+00:00",
|
| 136 |
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"started_at_monotonic": 2081814.773242542,
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| 137 |
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"reason": "manual_stop",
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| 138 |
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"ended_at": "2026-10-27T07:01:07.707778+00:00",
|
| 139 |
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"stopped_at_monotonic": 2081846.272268187,
|
| 140 |
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"duration_seconds": 31.499025644967332,
|
| 141 |
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"final_observation": {
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| 142 |
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"timestamp": 1793084467.3249254,
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| 143 |
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"joint_positions": [
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| 144 |
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],
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"joint_velocities": [
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],
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"position": [
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],
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"quaternion": [
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],
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"gripper": 0.0,
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| 173 |
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"gripper_joint_position": 0.0,
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| 174 |
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"gripper_timestamp": 1793084467.3280077,
|
| 175 |
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"arm_received_at": 2081846.271331511,
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| 176 |
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"gripper_received_at": 2081846.270383308
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| 177 |
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},
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| 178 |
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"missed_control_ticks": 0,
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| 179 |
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"videos": {
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| 180 |
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"enabled": true,
|
| 181 |
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"status": "degraded",
|
| 182 |
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"fps": 15,
|
| 183 |
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"started_at_monotonic": 2081814.773242542,
|
| 184 |
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"capture_seconds": 31.49905314994976,
|
| 185 |
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"errors": [],
|
| 186 |
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"streams": {
|
| 187 |
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"exterior": {
|
| 188 |
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"status": "degraded",
|
| 189 |
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"path": "videos/exterior.mp4",
|
| 190 |
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"partial_path": "videos/exterior.partial.mp4",
|
| 191 |
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"frames_path": "videos/exterior.frames.jsonl",
|
| 192 |
+
"codec": "H.264",
|
| 193 |
+
"width": 640,
|
| 194 |
+
"height": 360,
|
| 195 |
+
"fps": 15,
|
| 196 |
+
"frame_count": 473,
|
| 197 |
+
"duration_seconds": 31.533333333333335,
|
| 198 |
+
"dropped_frames": 0,
|
| 199 |
+
"duplicate_frames": 25,
|
| 200 |
+
"placeholder_frames": 0,
|
| 201 |
+
"gap_frames": 0,
|
| 202 |
+
"errors": []
|
| 203 |
+
},
|
| 204 |
+
"wrist": {
|
| 205 |
+
"status": "degraded",
|
| 206 |
+
"path": "videos/wrist.mp4",
|
| 207 |
+
"partial_path": "videos/wrist.partial.mp4",
|
| 208 |
+
"frames_path": "videos/wrist.frames.jsonl",
|
| 209 |
+
"codec": "H.264",
|
| 210 |
+
"width": 640,
|
| 211 |
+
"height": 360,
|
| 212 |
+
"fps": 15,
|
| 213 |
+
"frame_count": 473,
|
| 214 |
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"duration_seconds": 31.533333333333335,
|
| 215 |
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"dropped_frames": 0,
|
| 216 |
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"duplicate_frames": 58,
|
| 217 |
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"placeholder_frames": 0,
|
| 218 |
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"gap_frames": 0,
|
| 219 |
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"errors": []
|
| 220 |
+
}
|
| 221 |
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}
|
| 222 |
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},
|
| 223 |
+
"errors": []
|
| 224 |
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}
|
stack_green_cube_on_yellow_cube/20261027T070035.096690Z/samples.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
stack_green_cube_on_yellow_cube/20261027T070035.096690Z/trajectory.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ea1be7a2638cb06e4f164f2772fffde22522e3dc75cf1aaec79af0c59a56db0a
|
| 3 |
+
size 109049
|
stack_green_cube_on_yellow_cube/20261027T070035.096690Z/videos/exterior.frames.jsonl
ADDED
|
@@ -0,0 +1,473 @@
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| 1 |
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{"frame_index": 0, "time_seconds": 0.0, "source_timestamp": 1793084435.7900798, "source_seen_seconds": 0.002809135941788554, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 2 |
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| 4 |
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{"frame_index": 3, "time_seconds": 0.2, "source_timestamp": 1793084435.9895747, "source_seen_seconds": 0.20008044689893723, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 5 |
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{"frame_index": 4, "time_seconds": 0.26666666666666666, "source_timestamp": 1793084436.0561328, "source_seen_seconds": 0.26678948593325913, "duplicate": false, "placeholder": false, "gap_fill": false}
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{"frame_index": 24, "time_seconds": 1.6, "source_timestamp": 1793084437.3897066, "source_seen_seconds": 1.6000805629882962, "duplicate": false, "placeholder": false, "gap_fill": false}
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{"frame_index": 35, "time_seconds": 2.3333333333333335, "source_timestamp": 1793084438.1230676, "source_seen_seconds": 2.33479763683863, "duplicate": false, "placeholder": false, "gap_fill": false}
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|
| 446 |
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|
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|
| 448 |
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|
| 449 |
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|
| 450 |
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| 452 |
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| 457 |
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|
| 462 |
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|
| 463 |
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|
| 464 |
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| 466 |
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|
| 467 |
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| 468 |
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| 469 |
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| 470 |
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| 471 |
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| 472 |
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| 473 |
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stack_green_cube_on_yellow_cube/20261027T070035.096690Z/videos/exterior.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:2d6c3862cacc75e21a6710bf7d6a650086430e0723d794a14deffd0747b1551a
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size 843287
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stack_green_cube_on_yellow_cube/20261027T070035.096690Z/videos/wrist.frames.jsonl
ADDED
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@@ -0,0 +1,473 @@
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|
| 1 |
+
{"frame_index": 0, "time_seconds": 0.0, "source_timestamp": 1793084435.7857666, "source_seen_seconds": 0.002809135941788554, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 2 |
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{"frame_index": 1, "time_seconds": 0.06666666666666667, "source_timestamp": 1793084435.8523116, "source_seen_seconds": 0.06731141894124448, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 3 |
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{"frame_index": 2, "time_seconds": 0.13333333333333333, "source_timestamp": 1793084435.9188516, "source_seen_seconds": 0.13372691487893462, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 4 |
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{"frame_index": 3, "time_seconds": 0.2, "source_timestamp": 1793084435.9857166, "source_seen_seconds": 0.20008044689893723, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 5 |
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{"frame_index": 4, "time_seconds": 0.26666666666666666, "source_timestamp": 1793084435.9857166, "source_seen_seconds": 0.20008044689893723, "duplicate": true, "placeholder": false, "gap_fill": false}
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| 6 |
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{"frame_index": 5, "time_seconds": 0.3333333333333333, "source_timestamp": 1793084435.9857166, "source_seen_seconds": 0.20008044689893723, "duplicate": true, "placeholder": false, "gap_fill": false}
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| 7 |
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{"frame_index": 6, "time_seconds": 0.4, "source_timestamp": 1793084435.9857166, "source_seen_seconds": 0.20008044689893723, "duplicate": true, "placeholder": false, "gap_fill": false}
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| 8 |
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| 9 |
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{"frame_index": 8, "time_seconds": 0.5333333333333333, "source_timestamp": 1793084436.3190877, "source_seen_seconds": 0.5347347110509872, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 10 |
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| 11 |
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{"frame_index": 10, "time_seconds": 0.6666666666666666, "source_timestamp": 1793084436.4522057, "source_seen_seconds": 0.666983684990555, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 12 |
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{"frame_index": 11, "time_seconds": 0.7333333333333333, "source_timestamp": 1793084436.5190606, "source_seen_seconds": 0.7335751929786056, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 13 |
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{"frame_index": 12, "time_seconds": 0.8, "source_timestamp": 1793084436.5190606, "source_seen_seconds": 0.7335751929786056, "duplicate": true, "placeholder": false, "gap_fill": false}
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| 14 |
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{"frame_index": 13, "time_seconds": 0.8666666666666667, "source_timestamp": 1793084436.6521866, "source_seen_seconds": 0.8672616418916732, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 15 |
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{"frame_index": 14, "time_seconds": 0.9333333333333333, "source_timestamp": 1793084436.7190406, "source_seen_seconds": 0.9344128910452127, "duplicate": false, "placeholder": false, "gap_fill": false}
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{"frame_index": 15, "time_seconds": 1.0, "source_timestamp": 1793084436.7855647, "source_seen_seconds": 1.0004644028376788, "duplicate": false, "placeholder": false, "gap_fill": false}
|
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| 29 |
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| 30 |
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|
| 33 |
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| 96 |
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2.62,
|
| 97 |
+
2.62,
|
| 98 |
+
2.62,
|
| 99 |
+
2.62,
|
| 100 |
+
5.26,
|
| 101 |
+
4.18,
|
| 102 |
+
5.26
|
| 103 |
+
],
|
| 104 |
+
"acceleration": [
|
| 105 |
+
3.75,
|
| 106 |
+
1.875,
|
| 107 |
+
2.5,
|
| 108 |
+
3.125,
|
| 109 |
+
3.75,
|
| 110 |
+
5.0,
|
| 111 |
+
5.0
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"cameras": {
|
| 115 |
+
"wrist": {
|
| 116 |
+
"name": "zed_m",
|
| 117 |
+
"model": "zedm",
|
| 118 |
+
"serial": 11214112
|
| 119 |
+
},
|
| 120 |
+
"exterior": {
|
| 121 |
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"name": "zed_2",
|
| 122 |
+
"model": "zed2",
|
| 123 |
+
"serial": 25992879
|
| 124 |
+
}
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"action_representation": "absolute_joint_positions_and_gripper_closedness",
|
| 128 |
+
"proprioception_representation": "measured_joint_positions_and_gripper_closedness",
|
| 129 |
+
"quaternion_order": "wxyz",
|
| 130 |
+
"gripper_convention": "0=open, 1=closed",
|
| 131 |
+
"time_alignment": "monotonic t0; source timestamps retained; frames are not index-synchronized",
|
| 132 |
+
"success_label": null,
|
| 133 |
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"status": "completed",
|
| 134 |
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"sample_count": 481,
|
| 135 |
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"started_at": "2026-10-27T07:04:36.139624+00:00",
|
| 136 |
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"started_at_monotonic": 2082055.080469448,
|
| 137 |
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"reason": "manual_stop",
|
| 138 |
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"ended_at": "2026-10-27T07:05:08.518313+00:00",
|
| 139 |
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"stopped_at_monotonic": 2082087.117085567,
|
| 140 |
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"duration_seconds": 32.03661611909047,
|
| 141 |
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"final_observation": {
|
| 142 |
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"timestamp": 1793084708.1685529,
|
| 143 |
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"joint_positions": [
|
| 144 |
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0.08999098837375641,
|
| 145 |
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-0.3592376708984375,
|
| 146 |
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|
| 147 |
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|
| 148 |
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-0.08000733703374863,
|
| 149 |
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1.4393082857131958,
|
| 150 |
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|
| 151 |
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],
|
| 152 |
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"joint_velocities": [
|
| 153 |
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|
| 154 |
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|
| 155 |
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| 156 |
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| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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],
|
| 161 |
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"position": [
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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],
|
| 166 |
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"quaternion": [
|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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],
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| 172 |
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"gripper": 0.0,
|
| 173 |
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"gripper_joint_position": 0.0,
|
| 174 |
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"gripper_timestamp": 1793084708.1727889,
|
| 175 |
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"arm_received_at": 2082087.11509296,
|
| 176 |
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"gripper_received_at": 2082087.115213242
|
| 177 |
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},
|
| 178 |
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"missed_control_ticks": 0,
|
| 179 |
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"videos": {
|
| 180 |
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"enabled": true,
|
| 181 |
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"status": "degraded",
|
| 182 |
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"fps": 15,
|
| 183 |
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"started_at_monotonic": 2082055.080469448,
|
| 184 |
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"capture_seconds": 32.03664461104199,
|
| 185 |
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"errors": [],
|
| 186 |
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"streams": {
|
| 187 |
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"exterior": {
|
| 188 |
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"status": "degraded",
|
| 189 |
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"path": "videos/exterior.mp4",
|
| 190 |
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"partial_path": "videos/exterior.partial.mp4",
|
| 191 |
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"frames_path": "videos/exterior.frames.jsonl",
|
| 192 |
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"codec": "H.264",
|
| 193 |
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"width": 640,
|
| 194 |
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"height": 360,
|
| 195 |
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"fps": 15,
|
| 196 |
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"frame_count": 481,
|
| 197 |
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"duration_seconds": 32.06666666666667,
|
| 198 |
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"dropped_frames": 0,
|
| 199 |
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"duplicate_frames": 40,
|
| 200 |
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"placeholder_frames": 0,
|
| 201 |
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"gap_frames": 0,
|
| 202 |
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"errors": []
|
| 203 |
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},
|
| 204 |
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"wrist": {
|
| 205 |
+
"status": "degraded",
|
| 206 |
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"path": "videos/wrist.mp4",
|
| 207 |
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"partial_path": "videos/wrist.partial.mp4",
|
| 208 |
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"frames_path": "videos/wrist.frames.jsonl",
|
| 209 |
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"codec": "H.264",
|
| 210 |
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"width": 640,
|
| 211 |
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"height": 360,
|
| 212 |
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"fps": 15,
|
| 213 |
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"frame_count": 481,
|
| 214 |
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"duration_seconds": 32.06666666666667,
|
| 215 |
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"dropped_frames": 0,
|
| 216 |
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"duplicate_frames": 75,
|
| 217 |
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"placeholder_frames": 0,
|
| 218 |
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"gap_frames": 0,
|
| 219 |
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"errors": []
|
| 220 |
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}
|
| 221 |
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}
|
| 222 |
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},
|
| 223 |
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"errors": []
|
| 224 |
+
}
|
stack_green_cube_on_yellow_cube/20261027T070435.339823Z/samples.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
stack_green_cube_on_yellow_cube/20261027T070435.339823Z/trajectory.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:f388079dd4b3658531b412e58963f35f685d146b27f79201d6a11857a3fad975
|
| 3 |
+
size 109430
|
stack_green_cube_on_yellow_cube/20261027T070435.339823Z/videos/exterior.frames.jsonl
ADDED
|
@@ -0,0 +1,481 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{"frame_index": 0, "time_seconds": 0.0, "source_timestamp": 1793084676.0368304, "source_seen_seconds": 0.009265433065593243, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 2 |
+
{"frame_index": 1, "time_seconds": 0.06666666666666667, "source_timestamp": 1793084676.1702025, "source_seen_seconds": 0.06899031717330217, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 3 |
+
{"frame_index": 2, "time_seconds": 0.13333333333333333, "source_timestamp": 1793084676.2368195, "source_seen_seconds": 0.13472648919560015, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 4 |
+
{"frame_index": 3, "time_seconds": 0.2, "source_timestamp": 1793084676.3033025, "source_seen_seconds": 0.20066806813701987, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 5 |
+
{"frame_index": 4, "time_seconds": 0.26666666666666666, "source_timestamp": 1793084676.3702004, "source_seen_seconds": 0.26704161311499774, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 6 |
+
{"frame_index": 5, "time_seconds": 0.3333333333333333, "source_timestamp": 1793084676.4368124, "source_seen_seconds": 0.33489259611815214, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 7 |
+
{"frame_index": 6, "time_seconds": 0.4, "source_timestamp": 1793084676.5033014, "source_seen_seconds": 0.4005187170114368, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 8 |
+
{"frame_index": 7, "time_seconds": 0.4666666666666667, "source_timestamp": 1793084676.5701995, "source_seen_seconds": 0.46790117607451975, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 9 |
+
{"frame_index": 8, "time_seconds": 0.5333333333333333, "source_timestamp": 1793084676.6366854, "source_seen_seconds": 0.5335970351006836, "duplicate": false, "placeholder": false, "gap_fill": false}
|
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stack_green_cube_on_yellow_cube/20261027T070435.339823Z/videos/exterior.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:cfb958c588b3a66721e7397d98edb4e13920ac1c3f23b1dc4cc60418f088d51d
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| 3 |
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size 900160
|
stack_green_cube_on_yellow_cube/20261027T070435.339823Z/videos/wrist.frames.jsonl
ADDED
|
@@ -0,0 +1,481 @@
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| 1 |
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| 32 |
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| 34 |
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| 36 |
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| 37 |
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| 38 |
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| 41 |
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stack_green_cube_on_yellow_cube/20261027T070435.339823Z/videos/wrist.mp4
ADDED
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size 1118761
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stack_green_cube_on_yellow_cube/20261027T070541.618113Z/metadata.json
ADDED
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|
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|
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|
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|
|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_id": "20261027T070541.618113Z",
|
| 4 |
+
"created_at": "2026-10-27T07:05:41.625418+00:00",
|
| 5 |
+
"config": {
|
| 6 |
+
"rate": 15.0,
|
| 7 |
+
"horizon": 0.2,
|
| 8 |
+
"command_lead": 0.05,
|
| 9 |
+
"max_age": 0.2,
|
| 10 |
+
"camera_max_age": 0.5,
|
| 11 |
+
"alignment_tolerance": 0.1,
|
| 12 |
+
"gripper_alignment_tolerance": 0.1,
|
| 13 |
+
"tracking_tolerance": 0.1,
|
| 14 |
+
"reference_tolerance": 0.02,
|
| 15 |
+
"max_velocity": 6.0,
|
| 16 |
+
"max_acceleration": 3.0,
|
| 17 |
+
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|
| 18 |
+
"pre_follow_max_velocity": 0.1,
|
| 19 |
+
"pre_follow_max_acceleration": 0.3,
|
| 20 |
+
"gripper_deadband": 0.02,
|
| 21 |
+
"gripper_accept_timeout": 0.5,
|
| 22 |
+
"stop_timeout": 2.0,
|
| 23 |
+
"stopped_velocity": 0.01,
|
| 24 |
+
"joint_topic": "/gello_input/gello/joint_states",
|
| 25 |
+
"gripper_topic": "/gello_input/gripper/gripper_client/target_gripper_width_percent",
|
| 26 |
+
"output": "outputs/teleoperation"
|
| 27 |
+
},
|
| 28 |
+
"system": {
|
| 29 |
+
"system": "droid",
|
| 30 |
+
"arm": "Franka FR3",
|
| 31 |
+
"gripper": "Robotiq 2F-85",
|
| 32 |
+
"joint_names": [
|
| 33 |
+
"fr3_joint1",
|
| 34 |
+
"fr3_joint2",
|
| 35 |
+
"fr3_joint3",
|
| 36 |
+
"fr3_joint4",
|
| 37 |
+
"fr3_joint5",
|
| 38 |
+
"fr3_joint6",
|
| 39 |
+
"fr3_joint7"
|
| 40 |
+
],
|
| 41 |
+
"joint_units": "rad",
|
| 42 |
+
"position_units": "m",
|
| 43 |
+
"base_frame": "fr3_link0",
|
| 44 |
+
"control_frame": "Franka configured EE",
|
| 45 |
+
"quaternion_order": "wxyz",
|
| 46 |
+
"flange_to_ee": [
|
| 47 |
+
[
|
| 48 |
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1.0,
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0
|
| 52 |
+
],
|
| 53 |
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[
|
| 54 |
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0.0,
|
| 55 |
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1.0,
|
| 56 |
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0.0,
|
| 57 |
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0.0
|
| 58 |
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],
|
| 59 |
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[
|
| 60 |
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0.0,
|
| 61 |
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0.0,
|
| 62 |
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1.0,
|
| 63 |
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0.0
|
| 64 |
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],
|
| 65 |
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[
|
| 66 |
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0.0,
|
| 67 |
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0.0,
|
| 68 |
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0.0,
|
| 69 |
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1.0
|
| 70 |
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]
|
| 71 |
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],
|
| 72 |
+
"gripper_convention": "0=open, 1=closed",
|
| 73 |
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"gripper_closed_position": 0.7929,
|
| 74 |
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"control_dt": 0.06666666666666667,
|
| 75 |
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"max_time_scale": 10.0,
|
| 76 |
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"joint_limits": {
|
| 77 |
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"lower": [
|
| 78 |
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-2.9007,
|
| 79 |
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-1.8361,
|
| 80 |
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-2.9007,
|
| 81 |
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-3.077,
|
| 82 |
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-2.8763,
|
| 83 |
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0.4398,
|
| 84 |
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-3.0508
|
| 85 |
+
],
|
| 86 |
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"upper": [
|
| 87 |
+
2.9007,
|
| 88 |
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1.8361,
|
| 89 |
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2.9007,
|
| 90 |
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-0.1169,
|
| 91 |
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2.8763,
|
| 92 |
+
4.6216,
|
| 93 |
+
3.0508
|
| 94 |
+
],
|
| 95 |
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"velocity": [
|
| 96 |
+
2.62,
|
| 97 |
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2.62,
|
| 98 |
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2.62,
|
| 99 |
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2.62,
|
| 100 |
+
5.26,
|
| 101 |
+
4.18,
|
| 102 |
+
5.26
|
| 103 |
+
],
|
| 104 |
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"acceleration": [
|
| 105 |
+
3.75,
|
| 106 |
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1.875,
|
| 107 |
+
2.5,
|
| 108 |
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3.125,
|
| 109 |
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3.75,
|
| 110 |
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5.0,
|
| 111 |
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5.0
|
| 112 |
+
]
|
| 113 |
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},
|
| 114 |
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"cameras": {
|
| 115 |
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"wrist": {
|
| 116 |
+
"name": "zed_m",
|
| 117 |
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"model": "zedm",
|
| 118 |
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"serial": 11214112
|
| 119 |
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},
|
| 120 |
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"exterior": {
|
| 121 |
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"name": "zed_2",
|
| 122 |
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"model": "zed2",
|
| 123 |
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"serial": 25992879
|
| 124 |
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}
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"action_representation": "absolute_joint_positions_and_gripper_closedness",
|
| 128 |
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"proprioception_representation": "measured_joint_positions_and_gripper_closedness",
|
| 129 |
+
"quaternion_order": "wxyz",
|
| 130 |
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"gripper_convention": "0=open, 1=closed",
|
| 131 |
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"time_alignment": "monotonic t0; source timestamps retained; frames are not index-synchronized",
|
| 132 |
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"success_label": null,
|
| 133 |
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"status": "completed",
|
| 134 |
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"sample_count": 449,
|
| 135 |
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"started_at": "2026-10-27T07:05:42.285215+00:00",
|
| 136 |
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|
| 137 |
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"reason": "manual_stop",
|
| 138 |
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"ended_at": "2026-10-27T07:06:12.523979+00:00",
|
| 139 |
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"stopped_at_monotonic": 2082151.130829959,
|
| 140 |
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"duration_seconds": 29.904765981948003,
|
| 141 |
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"final_observation": {
|
| 142 |
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"timestamp": 1793084772.1835477,
|
| 143 |
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"joint_positions": [
|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 149 |
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|
| 150 |
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|
| 151 |
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],
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| 152 |
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"joint_velocities": [
|
| 153 |
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|
| 154 |
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| 155 |
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| 160 |
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],
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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},
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| 178 |
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"missed_control_ticks": 0,
|
| 179 |
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"videos": {
|
| 180 |
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"enabled": true,
|
| 181 |
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"status": "degraded",
|
| 182 |
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"fps": 15,
|
| 183 |
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"started_at_monotonic": 2082121.226063977,
|
| 184 |
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|
| 185 |
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|
| 186 |
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| 187 |
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"exterior": {
|
| 188 |
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"status": "degraded",
|
| 189 |
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"path": "videos/exterior.mp4",
|
| 190 |
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"partial_path": "videos/exterior.partial.mp4",
|
| 191 |
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|
| 192 |
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"codec": "H.264",
|
| 193 |
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"width": 640,
|
| 194 |
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|
| 195 |
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|
| 196 |
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"frame_count": 449,
|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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"gap_frames": 1,
|
| 202 |
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"errors": []
|
| 203 |
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},
|
| 204 |
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"wrist": {
|
| 205 |
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"status": "degraded",
|
| 206 |
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"path": "videos/wrist.mp4",
|
| 207 |
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"partial_path": "videos/wrist.partial.mp4",
|
| 208 |
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"frames_path": "videos/wrist.frames.jsonl",
|
| 209 |
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"codec": "H.264",
|
| 210 |
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"width": 640,
|
| 211 |
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"height": 360,
|
| 212 |
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"fps": 15,
|
| 213 |
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"frame_count": 449,
|
| 214 |
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|
| 215 |
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|
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| 217 |
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"placeholder_frames": 0,
|
| 218 |
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|
| 219 |
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"errors": []
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| 220 |
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}
|
| 221 |
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}
|
| 222 |
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},
|
| 223 |
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"errors": []
|
| 224 |
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}
|
stack_green_cube_on_yellow_cube/20261027T070541.618113Z/samples.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
stack_green_cube_on_yellow_cube/20261027T070541.618113Z/trajectory.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ce17c5a4bba6fe8471b42714f20aeaaf51d17c26fee34134dcb72e3274a42319
|
| 3 |
+
size 99095
|
stack_green_cube_on_yellow_cube/20261027T070541.618113Z/videos/exterior.frames.jsonl
ADDED
|
@@ -0,0 +1,449 @@
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
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| 1 |
+
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| 2 |
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| 4 |
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| 8 |
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| 13 |
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| 14 |
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| 17 |
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| 18 |
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| 19 |
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| 22 |
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| 23 |
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| 25 |
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| 27 |
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| 28 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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{"frame_index": 46, "time_seconds": 3.066666666666667, "source_timestamp": 1793084745.3075194, "source_seen_seconds": 3.0676867100410163, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 48 |
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{"frame_index": 47, "time_seconds": 3.1333333333333333, "source_timestamp": 1793084745.3075194, "source_seen_seconds": 3.0676867100410163, "duplicate": true, "placeholder": false, "gap_fill": false}
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| 49 |
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| 50 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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stack_green_cube_on_yellow_cube/20261027T070541.618113Z/videos/exterior.mp4
ADDED
|
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version https://git-lfs.github.com/spec/v1
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oid sha256:daa13f7344596cb4c12b4395f2bf4390ebb2e092ca667cddd6cb1e002426396a
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size 829654
|
stack_green_cube_on_yellow_cube/20261027T070541.618113Z/videos/wrist.frames.jsonl
ADDED
|
@@ -0,0 +1,449 @@
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| 1 |
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| 34 |
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| 37 |
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| 38 |
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| 39 |
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stack_green_cube_on_yellow_cube/20261027T070541.618113Z/videos/wrist.mp4
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stack_green_cube_on_yellow_cube/20261027T070824.273443Z/metadata.json
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| 1 |
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{
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| 2 |
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| 3 |
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|
| 4 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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"output": "outputs/teleoperation"
|
| 27 |
+
},
|
| 28 |
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"system": {
|
| 29 |
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"system": "droid",
|
| 30 |
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"arm": "Franka FR3",
|
| 31 |
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"gripper": "Robotiq 2F-85",
|
| 32 |
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"joint_names": [
|
| 33 |
+
"fr3_joint1",
|
| 34 |
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"fr3_joint2",
|
| 35 |
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"fr3_joint3",
|
| 36 |
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"fr3_joint4",
|
| 37 |
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"fr3_joint5",
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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[
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| 48 |
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|
| 62 |
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1.0,
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| 63 |
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0.0
|
| 64 |
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],
|
| 65 |
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[
|
| 66 |
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0.0,
|
| 67 |
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0.0,
|
| 68 |
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0.0,
|
| 69 |
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1.0
|
| 70 |
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]
|
| 71 |
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],
|
| 72 |
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"gripper_convention": "0=open, 1=closed",
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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2.8763,
|
| 92 |
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4.6216,
|
| 93 |
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3.0508
|
| 94 |
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],
|
| 95 |
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"velocity": [
|
| 96 |
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2.62,
|
| 97 |
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2.62,
|
| 98 |
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|
| 99 |
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2.62,
|
| 100 |
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5.26,
|
| 101 |
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4.18,
|
| 102 |
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5.26
|
| 103 |
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],
|
| 104 |
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"acceleration": [
|
| 105 |
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|
| 106 |
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1.875,
|
| 107 |
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2.5,
|
| 108 |
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3.125,
|
| 109 |
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3.75,
|
| 110 |
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5.0,
|
| 111 |
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5.0
|
| 112 |
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]
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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"name": "zed_m",
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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"quaternion_order": "wxyz",
|
| 130 |
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"gripper_convention": "0=open, 1=closed",
|
| 131 |
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"time_alignment": "monotonic t0; source timestamps retained; frames are not index-synchronized",
|
| 132 |
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"success_label": null,
|
| 133 |
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"status": "completed",
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"reason": "manual_stop",
|
| 138 |
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"ended_at": "2026-10-27T07:08:55.331527+00:00",
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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"timestamp": 1793084935.004294,
|
| 143 |
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|
| 144 |
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|
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|
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|
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|
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|
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|
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|
| 177 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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"path": "videos/exterior.mp4",
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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},
|
| 204 |
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"wrist": {
|
| 205 |
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|
| 206 |
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"path": "videos/wrist.mp4",
|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
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| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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"errors": []
|
| 224 |
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|
stack_green_cube_on_yellow_cube/20261027T070824.273443Z/samples.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
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stack_green_cube_on_yellow_cube/20261027T070824.273443Z/trajectory.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:af83164ffc94a4fa70e6785a185e3b2ce3af42ac1e844e29bca7f71326c421c0
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| 3 |
+
size 99640
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stack_green_cube_on_yellow_cube/20261027T070824.273443Z/videos/exterior.frames.jsonl
ADDED
|
@@ -0,0 +1,450 @@
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|
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|
| 1 |
+
{"frame_index": 0, "time_seconds": 0.0, "source_timestamp": 1793084904.983112, "source_seen_seconds": 0.006365637062117457, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 2 |
+
{"frame_index": 1, "time_seconds": 0.06666666666666667, "source_timestamp": 1793084904.983112, "source_seen_seconds": 0.006365637062117457, "duplicate": true, "placeholder": false, "gap_fill": false}
|
| 3 |
+
{"frame_index": 2, "time_seconds": 0.13333333333333333, "source_timestamp": 1793084904.983112, "source_seen_seconds": 0.006365637062117457, "duplicate": true, "placeholder": false, "gap_fill": false}
|
| 4 |
+
{"frame_index": 3, "time_seconds": 0.2, "source_timestamp": 1793084905.1830802, "source_seen_seconds": 0.20134291611611843, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 5 |
+
{"frame_index": 4, "time_seconds": 0.26666666666666666, "source_timestamp": 1793084905.249959, "source_seen_seconds": 0.26688711415044963, "duplicate": false, "placeholder": false, "gap_fill": false}
|
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stack_green_cube_on_yellow_cube/20261027T070824.273443Z/videos/exterior.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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size 767847
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stack_green_cube_on_yellow_cube/20261027T070824.273443Z/videos/wrist.frames.jsonl
ADDED
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| 1 |
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{"frame_index": 0, "time_seconds": 0.0, "source_timestamp": 1793084904.9799552, "source_seen_seconds": 0.006365637062117457, "duplicate": false, "placeholder": false, "gap_fill": false}
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stack_green_cube_on_yellow_cube/20261027T070824.273443Z/videos/wrist.mp4
ADDED
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ADDED
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| 29 |
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| 30 |
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|
| 33 |
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| 178 |
+
"missed_control_ticks": 0,
|
| 179 |
+
"videos": {
|
| 180 |
+
"enabled": true,
|
| 181 |
+
"status": "degraded",
|
| 182 |
+
"fps": 15,
|
| 183 |
+
"started_at_monotonic": 2082338.700394129,
|
| 184 |
+
"capture_seconds": 31.223737022140995,
|
| 185 |
+
"errors": [],
|
| 186 |
+
"streams": {
|
| 187 |
+
"exterior": {
|
| 188 |
+
"status": "degraded",
|
| 189 |
+
"path": "videos/exterior.mp4",
|
| 190 |
+
"partial_path": "videos/exterior.partial.mp4",
|
| 191 |
+
"frames_path": "videos/exterior.frames.jsonl",
|
| 192 |
+
"codec": "H.264",
|
| 193 |
+
"width": 640,
|
| 194 |
+
"height": 360,
|
| 195 |
+
"fps": 15,
|
| 196 |
+
"frame_count": 469,
|
| 197 |
+
"duration_seconds": 31.266666666666666,
|
| 198 |
+
"dropped_frames": 0,
|
| 199 |
+
"duplicate_frames": 42,
|
| 200 |
+
"placeholder_frames": 0,
|
| 201 |
+
"gap_frames": 0,
|
| 202 |
+
"errors": []
|
| 203 |
+
},
|
| 204 |
+
"wrist": {
|
| 205 |
+
"status": "degraded",
|
| 206 |
+
"path": "videos/wrist.mp4",
|
| 207 |
+
"partial_path": "videos/wrist.partial.mp4",
|
| 208 |
+
"frames_path": "videos/wrist.frames.jsonl",
|
| 209 |
+
"codec": "H.264",
|
| 210 |
+
"width": 640,
|
| 211 |
+
"height": 360,
|
| 212 |
+
"fps": 15,
|
| 213 |
+
"frame_count": 469,
|
| 214 |
+
"duration_seconds": 31.266666666666666,
|
| 215 |
+
"dropped_frames": 0,
|
| 216 |
+
"duplicate_frames": 30,
|
| 217 |
+
"placeholder_frames": 0,
|
| 218 |
+
"gap_frames": 0,
|
| 219 |
+
"errors": []
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"errors": []
|
| 224 |
+
}
|
stack_green_cube_on_yellow_cube/20261027T070919.028698Z/samples.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
stack_green_cube_on_yellow_cube/20261027T070919.028698Z/trajectory.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bbc10a01aecf723336e26ff9a940c44ce9ff19d784d0f4b77377b894e9adc274
|
| 3 |
+
size 101477
|
stack_green_cube_on_yellow_cube/20261027T070919.028698Z/videos/exterior.frames.jsonl
ADDED
|
@@ -0,0 +1,469 @@
|
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|
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|
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|
| 1 |
+
{"frame_index": 0, "time_seconds": 0.0, "source_timestamp": 1793084959.5197752, "source_seen_seconds": 0.0010802580509334803, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 2 |
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{"frame_index": 1, "time_seconds": 0.06666666666666667, "source_timestamp": 1793084959.7862802, "source_seen_seconds": 0.06676326808519661, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 3 |
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{"frame_index": 2, "time_seconds": 0.13333333333333333, "source_timestamp": 1793084959.8531592, "source_seen_seconds": 0.1335895110387355, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 4 |
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{"frame_index": 3, "time_seconds": 0.2, "source_timestamp": 1793084959.919778, "source_seen_seconds": 0.2012426930014044, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 5 |
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{"frame_index": 4, "time_seconds": 0.26666666666666666, "source_timestamp": 1793084959.9862611, "source_seen_seconds": 0.2673922451213002, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 6 |
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{"frame_index": 5, "time_seconds": 0.3333333333333333, "source_timestamp": 1793084960.053157, "source_seen_seconds": 0.33345348108559847, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 7 |
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{"frame_index": 6, "time_seconds": 0.4, "source_timestamp": 1793084960.119771, "source_seen_seconds": 0.4015146160963923, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 8 |
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{"frame_index": 7, "time_seconds": 0.4666666666666667, "source_timestamp": 1793084960.186258, "source_seen_seconds": 0.4669173490256071, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 9 |
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{"frame_index": 8, "time_seconds": 0.5333333333333333, "source_timestamp": 1793084960.253138, "source_seen_seconds": 0.5340367159806192, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 10 |
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{"frame_index": 9, "time_seconds": 0.6, "source_timestamp": 1793084960.319766, "source_seen_seconds": 0.6008578441105783, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 11 |
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{"frame_index": 10, "time_seconds": 0.6666666666666666, "source_timestamp": 1793084960.3865142, "source_seen_seconds": 0.6668895820621401, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 12 |
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{"frame_index": 11, "time_seconds": 0.7333333333333333, "source_timestamp": 1793084960.453171, "source_seen_seconds": 0.7334170581307262, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 13 |
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{"frame_index": 12, "time_seconds": 0.8, "source_timestamp": 1793084960.519633, "source_seen_seconds": 0.8009147080592811, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 14 |
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{"frame_index": 13, "time_seconds": 0.8666666666666667, "source_timestamp": 1793084960.586517, "source_seen_seconds": 0.8671010541729629, "duplicate": false, "placeholder": false, "gap_fill": false}
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{"frame_index": 14, "time_seconds": 0.9333333333333333, "source_timestamp": 1793084960.653166, "source_seen_seconds": 0.933559866156429, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 16 |
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{"frame_index": 15, "time_seconds": 1.0, "source_timestamp": 1793084960.719643, "source_seen_seconds": 1.000132563058287, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 17 |
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{"frame_index": 16, "time_seconds": 1.0666666666666667, "source_timestamp": 1793084960.786524, "source_seen_seconds": 1.0680319650564343, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 18 |
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{"frame_index": 17, "time_seconds": 1.1333333333333333, "source_timestamp": 1793084960.8531692, "source_seen_seconds": 1.1339292940683663, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 19 |
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{"frame_index": 18, "time_seconds": 1.2, "source_timestamp": 1793084960.91959, "source_seen_seconds": 1.2005659411661327, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 20 |
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{"frame_index": 19, "time_seconds": 1.2666666666666666, "source_timestamp": 1793084960.9865172, "source_seen_seconds": 1.2670343641657382, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 21 |
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{"frame_index": 20, "time_seconds": 1.3333333333333333, "source_timestamp": 1793084961.0529962, "source_seen_seconds": 1.3341820100322366, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 22 |
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{"frame_index": 21, "time_seconds": 1.4, "source_timestamp": 1793084961.119869, "source_seen_seconds": 1.4005009341053665, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 23 |
+
{"frame_index": 22, "time_seconds": 1.4666666666666666, "source_timestamp": 1793084961.1865191, "source_seen_seconds": 1.4673301021102816, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 24 |
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{"frame_index": 23, "time_seconds": 1.5333333333333334, "source_timestamp": 1793084961.255758, "source_seen_seconds": 1.535091815982014, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 25 |
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{"frame_index": 24, "time_seconds": 1.6, "source_timestamp": 1793084961.3199222, "source_seen_seconds": 1.6009245421737432, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 26 |
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{"frame_index": 25, "time_seconds": 1.6666666666666667, "source_timestamp": 1793084961.3865142, "source_seen_seconds": 1.6669836770743132, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 27 |
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{"frame_index": 26, "time_seconds": 1.7333333333333334, "source_timestamp": 1793084961.452991, "source_seen_seconds": 1.7342927071731538, "duplicate": false, "placeholder": false, "gap_fill": false}
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{"frame_index": 27, "time_seconds": 1.8, "source_timestamp": 1793084961.519922, "source_seen_seconds": 1.8002989480737597, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 29 |
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{"frame_index": 28, "time_seconds": 1.8666666666666667, "source_timestamp": 1793084961.586512, "source_seen_seconds": 1.8671806750353426, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 30 |
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{"frame_index": 29, "time_seconds": 1.9333333333333333, "source_timestamp": 1793084961.6532762, "source_seen_seconds": 1.934397946111858, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 31 |
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{"frame_index": 30, "time_seconds": 2.0, "source_timestamp": 1793084961.719887, "source_seen_seconds": 2.0004846891388297, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 32 |
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{"frame_index": 31, "time_seconds": 2.066666666666667, "source_timestamp": 1793084961.786365, "source_seen_seconds": 2.0678402511402965, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 33 |
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{"frame_index": 32, "time_seconds": 2.1333333333333333, "source_timestamp": 1793084961.8532672, "source_seen_seconds": 2.1341129371430725, "duplicate": false, "placeholder": false, "gap_fill": false}
|
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| 444 |
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| 445 |
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| 464 |
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| 465 |
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| 466 |
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| 467 |
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stack_green_cube_on_yellow_cube/20261027T070919.028698Z/videos/exterior.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:c1e86399bf791e293676deb1ee9fcaf523057fe5f0f28182e0ad740214384513
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size 834209
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stack_green_cube_on_yellow_cube/20261027T070919.028698Z/videos/wrist.frames.jsonl
ADDED
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|
| 1 |
+
{"frame_index": 0, "time_seconds": 0.0, "source_timestamp": 1793084959.549992, "source_seen_seconds": 0.0010802580509334803, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 2 |
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{"frame_index": 1, "time_seconds": 0.06666666666666667, "source_timestamp": 1793084959.7498982, "source_seen_seconds": 0.06676326808519661, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 5 |
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{"frame_index": 4, "time_seconds": 0.26666666666666666, "source_timestamp": 1793084959.9498832, "source_seen_seconds": 0.2673922451213002, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 8 |
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{"frame_index": 7, "time_seconds": 0.4666666666666667, "source_timestamp": 1793084960.1498942, "source_seen_seconds": 0.4669173490256071, "duplicate": false, "placeholder": false, "gap_fill": false}
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{"frame_index": 8, "time_seconds": 0.5333333333333333, "source_timestamp": 1793084960.2167592, "source_seen_seconds": 0.5340367159806192, "duplicate": false, "placeholder": false, "gap_fill": false}
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{"frame_index": 9, "time_seconds": 0.6, "source_timestamp": 1793084960.28326, "source_seen_seconds": 0.6008578441105783, "duplicate": false, "placeholder": false, "gap_fill": false}
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{"frame_index": 12, "time_seconds": 0.8, "source_timestamp": 1793084960.4832602, "source_seen_seconds": 0.8009147080592811, "duplicate": false, "placeholder": false, "gap_fill": false}
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{"frame_index": 15, "time_seconds": 1.0, "source_timestamp": 1793084960.6832592, "source_seen_seconds": 1.000132563058287, "duplicate": false, "placeholder": false, "gap_fill": false}
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{"frame_index": 18, "time_seconds": 1.2, "source_timestamp": 1793084960.8834102, "source_seen_seconds": 1.2005659411661327, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 1 |
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{
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| 25 |
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| 26 |
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|
| 27 |
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| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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| 127 |
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|
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"gripper_convention": "0=open, 1=closed",
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| 131 |
+
"time_alignment": "monotonic t0; source timestamps retained; frames are not index-synchronized",
|
| 132 |
+
"success_label": null,
|
| 133 |
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"status": "completed",
|
| 134 |
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"sample_count": 480,
|
| 135 |
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"started_at": "2026-10-27T07:13:15.313253+00:00",
|
| 136 |
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"started_at_monotonic": 2082574.254099634,
|
| 137 |
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"reason": "manual_stop",
|
| 138 |
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"ended_at": "2026-10-27T07:13:47.652852+00:00",
|
| 139 |
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"stopped_at_monotonic": 2082606.265941922,
|
| 140 |
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"duration_seconds": 32.01184228807688,
|
| 141 |
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"final_observation": {
|
| 142 |
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"timestamp": 1793085227.3182375,
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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],
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| 152 |
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|
| 153 |
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|
| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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|
| 160 |
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],
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| 161 |
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"position": [
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| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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],
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| 166 |
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| 167 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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"gripper_received_at": 2082606.264529846
|
| 177 |
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},
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| 178 |
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|
| 179 |
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"videos": {
|
| 180 |
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"enabled": true,
|
| 181 |
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"status": "degraded",
|
| 182 |
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"fps": 15,
|
| 183 |
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"started_at_monotonic": 2082574.254099634,
|
| 184 |
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"capture_seconds": 32.01189384190366,
|
| 185 |
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"errors": [],
|
| 186 |
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"streams": {
|
| 187 |
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"exterior": {
|
| 188 |
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"status": "degraded",
|
| 189 |
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"path": "videos/exterior.mp4",
|
| 190 |
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"partial_path": "videos/exterior.partial.mp4",
|
| 191 |
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"frames_path": "videos/exterior.frames.jsonl",
|
| 192 |
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"codec": "H.264",
|
| 193 |
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"width": 640,
|
| 194 |
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"height": 360,
|
| 195 |
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"fps": 15,
|
| 196 |
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"frame_count": 481,
|
| 197 |
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"duration_seconds": 32.06666666666667,
|
| 198 |
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|
| 199 |
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|
| 200 |
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"placeholder_frames": 0,
|
| 201 |
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"gap_frames": 1,
|
| 202 |
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"errors": []
|
| 203 |
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},
|
| 204 |
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"wrist": {
|
| 205 |
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"status": "degraded",
|
| 206 |
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"path": "videos/wrist.mp4",
|
| 207 |
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"partial_path": "videos/wrist.partial.mp4",
|
| 208 |
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"frames_path": "videos/wrist.frames.jsonl",
|
| 209 |
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"codec": "H.264",
|
| 210 |
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"width": 640,
|
| 211 |
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"height": 360,
|
| 212 |
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"fps": 15,
|
| 213 |
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"frame_count": 481,
|
| 214 |
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"duration_seconds": 32.06666666666667,
|
| 215 |
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|
| 216 |
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|
| 217 |
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"placeholder_frames": 0,
|
| 218 |
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"gap_frames": 0,
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| 219 |
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"errors": []
|
| 220 |
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}
|
| 221 |
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}
|
| 222 |
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},
|
| 223 |
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"errors": []
|
| 224 |
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}
|
stack_green_cube_on_yellow_cube/20261027T071314.593572Z/samples.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
stack_green_cube_on_yellow_cube/20261027T071314.593572Z/trajectory.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:d7e579559861f66a3cf378748e16a79ed0f58b90483b89b44e530da13318e1a2
|
| 3 |
+
size 104334
|
stack_green_cube_on_yellow_cube/20261027T071314.593572Z/videos/exterior.frames.jsonl
ADDED
|
@@ -0,0 +1,481 @@
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|
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|
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|
|
|
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|
|
|
| 1 |
+
{"frame_index": 0, "time_seconds": 0.0, "source_timestamp": 1793085195.2332258, "source_seen_seconds": 0.004002521047368646, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 2 |
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{"frame_index": 1, "time_seconds": 0.06666666666666667, "source_timestamp": 1793085195.300134, "source_seen_seconds": 0.06813921593129635, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 3 |
+
{"frame_index": 2, "time_seconds": 0.13333333333333333, "source_timestamp": 1793085195.366755, "source_seen_seconds": 0.13382258894853294, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 4 |
+
{"frame_index": 3, "time_seconds": 0.2, "source_timestamp": 1793085195.43347, "source_seen_seconds": 0.20123427407816052, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 5 |
+
{"frame_index": 4, "time_seconds": 0.26666666666666666, "source_timestamp": 1793085195.5001218, "source_seen_seconds": 0.2679313439875841, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 6 |
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{"frame_index": 5, "time_seconds": 0.3333333333333333, "source_timestamp": 1793085195.566599, "source_seen_seconds": 0.3365078519564122, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 7 |
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{"frame_index": 6, "time_seconds": 0.4, "source_timestamp": 1793085195.6334598, "source_seen_seconds": 0.4007967100478709, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 8 |
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{"frame_index": 7, "time_seconds": 0.4666666666666667, "source_timestamp": 1793085195.70012, "source_seen_seconds": 0.46714255190454423, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 9 |
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{"frame_index": 8, "time_seconds": 0.5333333333333333, "source_timestamp": 1793085195.7665648, "source_seen_seconds": 0.5345030159223825, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 10 |
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{"frame_index": 9, "time_seconds": 0.6, "source_timestamp": 1793085195.8334498, "source_seen_seconds": 0.6005208909045905, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 11 |
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{"frame_index": 10, "time_seconds": 0.6666666666666666, "source_timestamp": 1793085195.9001288, "source_seen_seconds": 0.6670836829580367, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 12 |
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{"frame_index": 11, "time_seconds": 0.7333333333333333, "source_timestamp": 1793085195.966591, "source_seen_seconds": 0.7335019940510392, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 13 |
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{"frame_index": 12, "time_seconds": 0.8, "source_timestamp": 1793085196.033484, "source_seen_seconds": 0.8011892379727215, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 14 |
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{"frame_index": 13, "time_seconds": 0.8666666666666667, "source_timestamp": 1793085196.099979, "source_seen_seconds": 0.8683494329452515, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 15 |
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{"frame_index": 14, "time_seconds": 0.9333333333333333, "source_timestamp": 1793085196.1668599, "source_seen_seconds": 0.9341737220529467, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 16 |
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{"frame_index": 15, "time_seconds": 1.0, "source_timestamp": 1793085196.23342, "source_seen_seconds": 1.0007953569293022, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 17 |
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{"frame_index": 16, "time_seconds": 1.0666666666666667, "source_timestamp": 1793085196.299979, "source_seen_seconds": 1.067222696961835, "duplicate": false, "placeholder": false, "gap_fill": false}
|
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stack_green_cube_on_yellow_cube/20261027T071314.593572Z/videos/exterior.mp4
ADDED
|
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version https://git-lfs.github.com/spec/v1
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size 815415
|
stack_green_cube_on_yellow_cube/20261027T071314.593572Z/videos/wrist.frames.jsonl
ADDED
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@@ -0,0 +1,481 @@
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| 1 |
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stack_green_cube_on_yellow_cube/20261027T071314.593572Z/videos/wrist.mp4
ADDED
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size 1023203
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stack_green_cube_on_yellow_cube/20261027T071425.032873Z/metadata.json
ADDED
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"episode_id": "20261027T071425.032873Z",
|
| 4 |
+
"created_at": "2026-10-27T07:14:25.042790+00:00",
|
| 5 |
+
"config": {
|
| 6 |
+
"rate": 15.0,
|
| 7 |
+
"horizon": 0.2,
|
| 8 |
+
"command_lead": 0.05,
|
| 9 |
+
"max_age": 0.2,
|
| 10 |
+
"camera_max_age": 0.5,
|
| 11 |
+
"alignment_tolerance": 0.1,
|
| 12 |
+
"gripper_alignment_tolerance": 0.1,
|
| 13 |
+
"tracking_tolerance": 0.1,
|
| 14 |
+
"reference_tolerance": 0.02,
|
| 15 |
+
"max_velocity": 6.0,
|
| 16 |
+
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|
| 17 |
+
"pre_follow_max_error": 0.5,
|
| 18 |
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"pre_follow_max_velocity": 0.1,
|
| 19 |
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"pre_follow_max_acceleration": 0.3,
|
| 20 |
+
"gripper_deadband": 0.02,
|
| 21 |
+
"gripper_accept_timeout": 0.5,
|
| 22 |
+
"stop_timeout": 2.0,
|
| 23 |
+
"stopped_velocity": 0.01,
|
| 24 |
+
"joint_topic": "/gello_input/gello/joint_states",
|
| 25 |
+
"gripper_topic": "/gello_input/gripper/gripper_client/target_gripper_width_percent",
|
| 26 |
+
"output": "outputs/teleoperation"
|
| 27 |
+
},
|
| 28 |
+
"system": {
|
| 29 |
+
"system": "droid",
|
| 30 |
+
"arm": "Franka FR3",
|
| 31 |
+
"gripper": "Robotiq 2F-85",
|
| 32 |
+
"joint_names": [
|
| 33 |
+
"fr3_joint1",
|
| 34 |
+
"fr3_joint2",
|
| 35 |
+
"fr3_joint3",
|
| 36 |
+
"fr3_joint4",
|
| 37 |
+
"fr3_joint5",
|
| 38 |
+
"fr3_joint6",
|
| 39 |
+
"fr3_joint7"
|
| 40 |
+
],
|
| 41 |
+
"joint_units": "rad",
|
| 42 |
+
"position_units": "m",
|
| 43 |
+
"base_frame": "fr3_link0",
|
| 44 |
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"control_frame": "Franka configured EE",
|
| 45 |
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"quaternion_order": "wxyz",
|
| 46 |
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"flange_to_ee": [
|
| 47 |
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[
|
| 48 |
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1.0,
|
| 49 |
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0.0,
|
| 50 |
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0.0,
|
| 51 |
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0.0
|
| 52 |
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],
|
| 53 |
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[
|
| 54 |
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0.0,
|
| 55 |
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1.0,
|
| 56 |
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0.0,
|
| 57 |
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0.0
|
| 58 |
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],
|
| 59 |
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[
|
| 60 |
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0.0,
|
| 61 |
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0.0,
|
| 62 |
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1.0,
|
| 63 |
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0.0
|
| 64 |
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],
|
| 65 |
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[
|
| 66 |
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0.0,
|
| 67 |
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0.0,
|
| 68 |
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0.0,
|
| 69 |
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1.0
|
| 70 |
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]
|
| 71 |
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],
|
| 72 |
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"gripper_convention": "0=open, 1=closed",
|
| 73 |
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"gripper_closed_position": 0.7929,
|
| 74 |
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|
| 75 |
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|
| 76 |
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"joint_limits": {
|
| 77 |
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"lower": [
|
| 78 |
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-2.9007,
|
| 79 |
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-1.8361,
|
| 80 |
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-2.9007,
|
| 81 |
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-3.077,
|
| 82 |
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-2.8763,
|
| 83 |
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|
| 84 |
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-3.0508
|
| 85 |
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],
|
| 86 |
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"upper": [
|
| 87 |
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2.9007,
|
| 88 |
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1.8361,
|
| 89 |
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2.9007,
|
| 90 |
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-0.1169,
|
| 91 |
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2.8763,
|
| 92 |
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4.6216,
|
| 93 |
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3.0508
|
| 94 |
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],
|
| 95 |
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"velocity": [
|
| 96 |
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2.62,
|
| 97 |
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2.62,
|
| 98 |
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2.62,
|
| 99 |
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2.62,
|
| 100 |
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5.26,
|
| 101 |
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4.18,
|
| 102 |
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5.26
|
| 103 |
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],
|
| 104 |
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"acceleration": [
|
| 105 |
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3.75,
|
| 106 |
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1.875,
|
| 107 |
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2.5,
|
| 108 |
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3.125,
|
| 109 |
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3.75,
|
| 110 |
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5.0,
|
| 111 |
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5.0
|
| 112 |
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]
|
| 113 |
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},
|
| 114 |
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"cameras": {
|
| 115 |
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"wrist": {
|
| 116 |
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"name": "zed_m",
|
| 117 |
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"model": "zedm",
|
| 118 |
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"serial": 11214112
|
| 119 |
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},
|
| 120 |
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"exterior": {
|
| 121 |
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"name": "zed_2",
|
| 122 |
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"model": "zed2",
|
| 123 |
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"serial": 25992879
|
| 124 |
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}
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"action_representation": "absolute_joint_positions_and_gripper_closedness",
|
| 128 |
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"proprioception_representation": "measured_joint_positions_and_gripper_closedness",
|
| 129 |
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"quaternion_order": "wxyz",
|
| 130 |
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"gripper_convention": "0=open, 1=closed",
|
| 131 |
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"time_alignment": "monotonic t0; source timestamps retained; frames are not index-synchronized",
|
| 132 |
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|
| 133 |
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"status": "completed",
|
| 134 |
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|
| 135 |
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"started_at": "2026-10-27T07:14:25.748856+00:00",
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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"duration_seconds": 28.50547396298498,
|
| 141 |
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|
| 142 |
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"timestamp": 1793085294.2484186,
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
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|
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|
| 153 |
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|
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|
| 173 |
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| 176 |
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|
| 177 |
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},
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| 178 |
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|
| 179 |
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|
| 180 |
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"enabled": true,
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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| 187 |
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|
| 188 |
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|
| 189 |
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"path": "videos/exterior.mp4",
|
| 190 |
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|
| 191 |
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|
| 192 |
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| 193 |
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|
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|
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|
| 200 |
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| 201 |
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| 202 |
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|
| 203 |
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},
|
| 204 |
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"wrist": {
|
| 205 |
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"status": "degraded",
|
| 206 |
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"path": "videos/wrist.mp4",
|
| 207 |
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"partial_path": "videos/wrist.partial.mp4",
|
| 208 |
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"frames_path": "videos/wrist.frames.jsonl",
|
| 209 |
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"codec": "H.264",
|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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| 219 |
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| 220 |
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}
|
| 221 |
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}
|
| 222 |
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},
|
| 223 |
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"errors": []
|
| 224 |
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}
|
stack_green_cube_on_yellow_cube/20261027T071425.032873Z/samples.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
stack_green_cube_on_yellow_cube/20261027T071425.032873Z/trajectory.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:d359047689716478631681d4ef52576009b4fcb48d6ab7eea1d5f30c802cdf5d
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| 3 |
+
size 92685
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stack_green_cube_on_yellow_cube/20261027T071425.032873Z/videos/exterior.frames.jsonl
ADDED
|
@@ -0,0 +1,428 @@
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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| 1 |
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stack_green_cube_on_yellow_cube/20261027T071425.032873Z/videos/exterior.mp4
ADDED
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size 760122
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stack_green_cube_on_yellow_cube/20261027T071425.032873Z/videos/wrist.frames.jsonl
ADDED
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|
| 1 |
+
{"frame_index": 0, "time_seconds": 0.0, "source_timestamp": 1793085265.66823, "source_seen_seconds": 0.0022376279812306166, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 2 |
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{"frame_index": 425, "time_seconds": 28.333333333333332, "source_timestamp": 1793085294.036597, "source_seen_seconds": 28.33382753515616, "duplicate": false, "placeholder": false, "gap_fill": false}
|
| 427 |
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{"frame_index": 426, "time_seconds": 28.4, "source_timestamp": 1793085294.103178, "source_seen_seconds": 28.400159609038383, "duplicate": false, "placeholder": false, "gap_fill": false}
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| 428 |
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stack_green_cube_on_yellow_cube/20261027T071425.032873Z/videos/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:7a474e4e29634c84d78f9c8a77f76964b53cefbbbd62fc379faa5386461a0c9d
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| 3 |
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size 917978
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stack_green_cube_on_yellow_cube/20261027T072257.607906Z/metadata.json
ADDED
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@@ -0,0 +1,224 @@
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 8 |
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|
| 11 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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"output": "outputs/teleoperation"
|
| 27 |
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},
|
| 28 |
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|
| 29 |
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"system": "droid",
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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| 35 |
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