Squash history before release

Co-authored-by: Sharan Nayak <Sharan Nayak@users.noreply.huggingface.co>
Co-authored-by: hugsharan <hugsharan@users.noreply.huggingface.co>

.gitattributes

@@ -0,0 +1,60 @@
+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.avro filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -0,0 +1,4 @@
+.DS_Store
+__MACOSX/
+.venv/
+*.zip

README.md

@@ -0,0 +1,256 @@
+---
+license: apache-2.0
+pretty_name: OOJU Galaxea R1 Pro Pick Cube
+task_categories:
+  - robotics
+size_categories:
+  - 10K<n<100K
+tags:
+  - robotics
+  - real-world
+  - teleoperation
+  - imitation-learning
+  - manipulation
+  - bimanual
+  - galaxea
+  - galaxea-r1-pro
+  - quest-3
+  - meta-quest-3
+  - hand-tracking
+  - retargeting
+  - embodied-ai
+---
+
+# OOJU Galaxea R1 Pro Pick Cube
+
+**177 bimanual cube-grasping demonstrations for the Galaxea R1 Pro, captured with
+Meta Quest 3 hand tracking and retargeted to the robot.** Each episode carries
+full 26-joint hand poses for both hands, first-person passthrough camera frames,
+and 22-DoF robot joint positions, velocities and drive targets sampled at a
+nominal 50 Hz. The set totals 38,027 XR/camera frames and 80,014 robot samples
+across two grasp strategies, side grasp and top grasp.
+
+No teleoperation rig was used. The demonstrations were recorded by a person
+wearing a headset and moving their hands, then converted to robot joint commands.
+
+## OOJU dataset series
+
+| Dataset | Robot | Episodes | Robot actions | Format |
+| --- | --- | ---: | --- | --- |
+| [wild-mani-kitchen](https://huggingface.co/datasets/OOJU/wild-mani-kitchen) | retarget targets: Unitree G1, UR5e | 102 | no | LeRobot v3.0 parquet |
+| **ooju-galaxea-pick-cube** (this card) | Galaxea R1 Pro | 177 | **yes, 80,014 samples** | raw JSON + TAR |
+| [unitree-g1-pick-place-cup](https://huggingface.co/datasets/OOJU/pick-place-cup-20260404) | Unitree G1 | 47 | yes | LeRobot parquet + policy baselines |
+
+If you want published success rates for policies trained on OOJU data, the cup
+dataset is the one that ships evaluation results.
+
+## Tasks
+
+| Folder | Description | Episodes |
+| --- | --- | ---: |
+| `side-grasp/` | Pick up a cube using a side grasp | 120 |
+| `top-grasp/` | Pick up a cube using a top grasp | 57 |
+
+## Snapshot
+
+| Property | Value |
+| --- | ---: |
+| Episodes released | 177 |
+| Recorded task time | 1,600.3 s (26.7 min), mean 9.0 s per episode |
+| XR/camera frames | 38,027 |
+| Robot samples | 80,014 |
+| Robot degrees of freedom | 22 |
+| Robot nominal sample rate | 50 Hz |
+| JPEG frames (inside archives) | 38,027 |
+| Frame archives | 177 |
+| JSON files | 1,062 |
+| Extracted size | ~5.4 GB |
+| Collection dates | 2026-08-13 to 2026-08-16 |
+
+The 177 episodes are the set retained after validation. Recordings that failed
+the workspace, joint-limit or teleoperation quality checks were not carried into
+this release, so this snapshot contains no failed demonstrations and the recorded
+task time above is the time in the released episodes, not the total time spent
+collecting.
+
+## Recording details
+
+| Property | Value |
+| --- | --- |
+| Robot embodiment | Galaxea R1 Pro with grippers |
+| Recording mode | Bimanual, hand tracking (no teleoperation rig) |
+| XR device | Meta Quest 3 |
+| XR tracking | Full hand-joint poses, 26 joints per hand |
+| Camera | Left passthrough camera (`passthrough_left`) |
+| Camera resolution | 1280 x 1280 RGB |
+| Observed camera rate | 23.08 to 25.47 FPS |
+
+## Loading
+
+This repository keeps the native recorder output as JSON and JPEG. It is not
+converted to LeRobot or another training format, so `load_dataset` will not work.
+Pull the files directly:
+
+```python
+from huggingface_hub import snapshot_download
+
+path = snapshot_download("OOJU/ooju-galaxea-pick-cube", repo_type="dataset")
+```
+
+```bash
+# one episode, trajectory + robot stream + camera frames
+tar -xf side-grasp/side-grasp_20260815_210713/camera_real/frames.tar -C ./frames
+```
+
+<!-- IF WE CONVERT TO PARQUET, REPLACE THE BLOCK ABOVE WITH:
+```python
+from datasets import load_dataset
+ds = load_dataset("OOJU/ooju-galaxea-pick-cube", split="train")
+```
+and add `lerobot` + `format:parquet` to the tags, and a `configs:` block to the
+frontmatter. Without that the Hub viewer stays off and no Croissant record is
+generated, so the dataset will not appear in Google Dataset Search.
+-->
+
+## What is in each episode
+
+Each recording has a task name and timestamp identifier, for example
+`side-grasp_20260815_210713` or `top-grasp_20260813_213502`:
+
+- `<task>_<timestamp>.json` — Time-series XR frames, including hand and eye
+  poses and validation signals.
+- `<task>_<timestamp>_metadata.json` — Episode and environment metadata,
+  including task environment, device, timing, success, and quality checks.
+- `<task>_<timestamp>_robot.json` — Robot observations and actions, including
+  joint positions, velocities, drive targets, root pose, and engine state.
+- `camera_real/frames.tar` — Uncompressed archive of the original JPEG
+  passthrough frames (`real_frame_*.jpg`).
+- `camera_real/` also contains camera poses, calibration, and video sidecar
+  metadata.
+
+### Episode layout
+
+```text
+side-grasp/
+├── side-grasp_20260815_210713/
+│   ├── side-grasp_20260815_210713.json
+│   ├── side-grasp_20260815_210713_metadata.json
+│   ├── side-grasp_20260815_210713_robot.json
+│   └── camera_real/
+│       ├── side-grasp_20260815_210713_camera_poses.json
+│       ├── side-grasp_20260815_210713_video.json
+│       ├── calib.json
+│       └── frames.tar
+└── ...
+```
+
+### Robot joint ordering
+
+The 22-element `q`, `qd`, and `action_q` arrays use this order:
+
+1. Four torso joints
+2. Seven left-arm joints
+3. Seven right-arm joints
+4. Two left-gripper finger joints
+5. Two right-gripper finger joints
+
+Exact joint names are recorded in each `*_robot.json` file.
+
+### Hand-joint ordering
+
+Each hand stores 26 poses in this order: palm and wrist; thumb metacarpal,
+proximal, distal, tip; then metacarpal, proximal, intermediate, distal and tip
+for index, middle, ring and little fingers. The names are repeated in each frame
+under `left_hand.joint_names` and `right_hand.joint_names`. Every hand pose is
+translation followed by rotation, `[x, y, z, qx, qy, qz, qw]`.
+
+### Units and coordinate conventions
+
+- Joint angles in radians, translations in metres, time in seconds.
+- Quaternions are XYZW, scalar last.
+- Robot root poses use the Unity left-handed, Y-up world frame.
+- Camera poses are camera-to-world transforms in the Unity world frame.
+- Camera intrinsics follow the OpenCV pinhole convention, top-left origin,
+  downward-positive image Y axis.
+
+## Synchronization
+
+The robot and XR/camera streams run at different rates. Robot samples are
+nominally 50 Hz; each JPEG maps one-to-one to an XR frame and a camera-pose
+entry at roughly 24 FPS. Align with `timestamp_seconds` in the trajectory file
+and `trajectory_timestamp_seconds` in the camera-pose sidecar.
+
+Do not substitute `center_eye_pose`, `left_eye_pose` or `right_eye_pose` for the
+physical passthrough-camera pose. The eye fields are display-view poses; the
+camera-pose sidecar describes the image sensor at capture time.
+
+## Data quality and limitations
+
+- The first JPEG of every episode is blank. It is written before the passthrough
+  stream is live, so start from the second frame.
+- Camera sidecars flag 678 frames as `IMG_STATIC`.
+- The camera distortion model is unmeasured; distortion coefficients are zero.
+- Video sidecars contain recorder-generated MP4 path fields, but this snapshot
+  ships the original JPEG frames inside `frames.tar`, not MP4 files.
+- The snapshot covers two grasp tasks, one robot embodiment, one XR device, one
+  camera viewpoint and a limited physical setting.
+- It contains no failed demonstrations, no audio, no depth and no force/torque.
+- Capture device identifiers in the JSON have been replaced with a neutral label.
+  All episodes come from a single headset.
+
+## What is visible in the frames
+
+The passthrough frames are first person and were recorded indoors on a high
+floor. They show the demonstrator's bare hands and forearms, the desk surface and
+props used for the task, and a window with a view of the surrounding area. If you
+plan to redistribute derived imagery, note that the window view is identifiable.
+
+## FAQ
+
+**Can I collect demonstration data without building a teleoperation rig?**
+Yes. Every episode here was recorded by a person wearing a Meta Quest 3 and
+moving their hands; the robot joint commands were produced afterwards by
+retargeting. There is no leader arm, no exoskeleton and no motion-capture stage.
+
+**Can data recorded from human hands be used on a robot?**
+It has to be retargeted first. This repository ships the result of that step for
+the Galaxea R1 Pro: 80,014 robot samples with 22-DoF joint positions, velocities
+and drive targets, alongside the original hand poses. The retargeting is what
+turns a hand trajectory into something a robot controller can execute.
+
+**How many demonstrations do I need?**
+This dataset does not answer that on its own. Our
+[cup dataset](https://huggingface.co/datasets/OOJU/pick-place-cup-20260404)
+ships trained checkpoints and evaluation results for one task at 47
+demonstrations, and reports both the learned-policy and the retrieval-and-replay
+numbers so the gap is visible.
+
+**What is the difference between this and a teleoperation dataset?**
+Most teleoperation datasets record the leader device or the robot's own
+commanded state. This records the human hand at 26 joints per hand plus the
+first-person view, and derives the robot action from it. The hand pose is kept,
+not discarded, so grasp shape survives into the released data.
+
+## Collect and validate your own data
+
+If your task, objects or environment are not covered here, the same pipeline is
+available: Quest 3 capture, automated validation against a target embodiment, and
+export.
+
+**[Request access](https://ooju-app.world/request?utm_source=huggingface&utm_medium=dataset_card&utm_campaign=galaxea-pick-cube&utm_content=footer)**
+
+## License
+
+Released under the Apache 2.0 License.
+
+## Citation
+
+```bibtex
+@misc{ooju_galaxea_pick_cube,
+  title={OOJU Galaxea R1 Pro Pick Cube},
+  author={OOJU},
+  year={2026},
+  publisher={Hugging Face},
+  howpublished={\url{https://huggingface.co/datasets/OOJU/ooju-galaxea-pick-cube}}
+}
+```

side-grasp/side-grasp_20260815_210713/camera_real/calib.json

@@ -0,0 +1,35 @@
+{
+    "fx": 869.4921875,
+    "fy": 869.4921875,
+    "cx": 640.5423583984375,
+    "cy": 640.2724609375,
+    "width": 1280,
+    "height": 1280,
+    "dist": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+    ],
+    "distortion_model": "unmeasured",
+    "camera_id": "passthrough_left",
+    "capture_source": "passthrough",
+    "intrinsics_convention": "opencv_pinhole_top_left_origin_y_down",
+    "sensor_width": 1280,
+    "sensor_height": 1280,
+    "sensor_crop_rect_px": [
+        0.0,
+        0.0,
+        1280.0,
+        1280.0
+    ],
+    "delivered_width": 1280,
+    "delivered_height": 1280,
+    "blit_rect_uv": [
+        0.0,
+        0.0,
+        1.0,
+        1.0
+    ]
+}

side-grasp/side-grasp_20260815_210713/camera_real/frames.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52e7a490a4241c5e8342d36782bf1a25b234aaceb89b77116b8236cbeccb7f20
+size 27486720

side-grasp/side-grasp_20260815_210713/camera_real/side-grasp_20260815_210713_video.json

@@ -0,0 +1,19 @@
+{
+    "episode_id": "GalaxeaSide_20260815_210713",
+    "task_name": "GalaxeaSide",
+    "camera_key": "observation.images.external_front",
+    "video_relative_path": "Recordings/GalaxeaSide_20260815_210713/camera_real/GalaxeaSide-v1_20260815_210713.mp4",
+    "video_fps": 23.476604461669923,
+    "num_frames": 201,
+    "frame_stride": 1,
+    "width": 1280,
+    "height": 1280,
+    "frames_directory": "Recordings/GalaxeaSide_20260815_210713/camera_real",
+    "cameras": [],
+    "frame_integrity": [
+        {
+            "frame_index": 38,
+            "flag": "IMG_STATIC"
+        }
+    ]
+}

side-grasp/side-grasp_20260815_210713/side-grasp_20260815_210713_metadata.json

@@ -0,0 +1,62 @@
+{
+  "env_info": {
+    "env_id": "GalaxeaSide-v1",
+    "env_kwargs": {
+      "recording_start_realtime": 153.85572814941406,
+      "recording_start_unix_timestamp": 1786853233.634563,
+      "device_name": "Quest 3",
+      "device_id": "device-01",
+      "coordinate_frame": "RUF",
+      "quaternion_convention": "xyzw_scalar_last",
+      "joint_capture_mode": "FullJointPoses",
+      "camera_enabled": true,
+      "camera_capture_fps": 23,
+      "camera_save_format": "JPEG"
+    },
+    "max_episode_steps": 10000
+  },
+  "episodes": [
+    {
+      "episode_id": 0,
+      "reset_kwargs": {},
+      "elapsed_steps": 201,
+      "info": {
+        "success": true,
+        "completion_time": 8.588776,
+        "final_reward": 1.0,
+        "device_name": "Quest 3",
+        "device_id": "device-01",
+        "tracking_method": "hand_tracking",
+        "embodiment_id": "galaxea_r1_pro",
+        "adapter_version": "ooj785-diag",
+        "retarget_success": true,
+        "raw_xr_joint_count": 52,
+        "output_joint_count": 14,
+        "validation_enabled": true,
+        "validation_frame_count": 201,
+        "workspace_quality_ok": true,
+        "workspace_violation_count": 0,
+        "workspace_compliance_percentage": 100.0,
+        "workspace_reference_frame": "base_link",
+        "workspace_bounds_center": [
+          0.0,
+          1.0,
+          0.0
+        ],
+        "workspace_bounds_size": [
+          3.0,
+          3.0,
+          3.0
+        ],
+        "joint_limit_quality_ok": true,
+        "joint_limit_violation_count": 0,
+        "joint_limit_compliance_percentage": 100.0,
+        "teleop_quality_ok": true
+      }
+    }
+  ],
+  "source_type": "teleop",
+  "source_desc": "VR hand tracking data collected with Meta Quest 3 using hand tracking, 30 FPS, recorded 2026-08-15 21:07:13 using Quest 3",
+  "embodiment_id": "galaxea_r1_pro",
+  "robot_display_name": "Galaxea R1 Pro"
+}

side-grasp/side-grasp_20260815_210732/camera_real/calib.json

@@ -0,0 +1,35 @@
+{
+    "fx": 869.4921875,
+    "fy": 869.4921875,
+    "cx": 640.5423583984375,
+    "cy": 640.2724609375,
+    "width": 1280,
+    "height": 1280,
+    "dist": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+    ],
+    "distortion_model": "unmeasured",
+    "camera_id": "passthrough_left",
+    "capture_source": "passthrough",
+    "intrinsics_convention": "opencv_pinhole_top_left_origin_y_down",
+    "sensor_width": 1280,
+    "sensor_height": 1280,
+    "sensor_crop_rect_px": [
+        0.0,
+        0.0,
+        1280.0,
+        1280.0
+    ],
+    "delivered_width": 1280,
+    "delivered_height": 1280,
+    "blit_rect_uv": [
+        0.0,
+        0.0,
+        1.0,
+        1.0
+    ]
+}

side-grasp/side-grasp_20260815_210732/camera_real/frames.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4f80bfb0345d3a7ad83b85dd3ee0b93be150a7bcd3f5949ced948fcdf2e1fab
+size 28514816

side-grasp/side-grasp_20260815_210732/camera_real/side-grasp_20260815_210732_video.json

@@ -0,0 +1,31 @@
+{
+    "episode_id": "GalaxeaSide_20260815_210732",
+    "task_name": "GalaxeaSide",
+    "camera_key": "observation.images.external_front",
+    "video_relative_path": "Recordings/GalaxeaSide_20260815_210732/camera_real/GalaxeaSide-v1_20260815_210732.mp4",
+    "video_fps": 23.822689056396486,
+    "num_frames": 218,
+    "frame_stride": 1,
+    "width": 1280,
+    "height": 1280,
+    "frames_directory": "Recordings/GalaxeaSide_20260815_210732/camera_real",
+    "cameras": [],
+    "frame_integrity": [
+        {
+            "frame_index": 8,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 76,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 154,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 212,
+            "flag": "IMG_STATIC"
+        }
+    ]
+}

side-grasp/side-grasp_20260815_210732/side-grasp_20260815_210732_metadata.json

@@ -0,0 +1,62 @@
+{
+  "env_info": {
+    "env_id": "GalaxeaSide-v1",
+    "env_kwargs": {
+      "recording_start_realtime": 173.09214782714844,
+      "recording_start_unix_timestamp": 1786853252.8709826,
+      "device_name": "Quest 3",
+      "device_id": "device-01",
+      "coordinate_frame": "RUF",
+      "quaternion_convention": "xyzw_scalar_last",
+      "joint_capture_mode": "FullJointPoses",
+      "camera_enabled": true,
+      "camera_capture_fps": 24,
+      "camera_save_format": "JPEG"
+    },
+    "max_episode_steps": 10000
+  },
+  "episodes": [
+    {
+      "episode_id": 0,
+      "reset_kwargs": {},
+      "elapsed_steps": 218,
+      "info": {
+        "success": true,
+        "completion_time": 9.150558,
+        "final_reward": 1.0,
+        "device_name": "Quest 3",
+        "device_id": "device-01",
+        "tracking_method": "hand_tracking",
+        "embodiment_id": "galaxea_r1_pro",
+        "adapter_version": "ooj785-diag",
+        "retarget_success": true,
+        "raw_xr_joint_count": 52,
+        "output_joint_count": 14,
+        "validation_enabled": true,
+        "validation_frame_count": 218,
+        "workspace_quality_ok": true,
+        "workspace_violation_count": 0,
+        "workspace_compliance_percentage": 100.0,
+        "workspace_reference_frame": "base_link",
+        "workspace_bounds_center": [
+          0.0,
+          1.0,
+          0.0
+        ],
+        "workspace_bounds_size": [
+          3.0,
+          3.0,
+          3.0
+        ],
+        "joint_limit_quality_ok": true,
+        "joint_limit_violation_count": 0,
+        "joint_limit_compliance_percentage": 100.0,
+        "teleop_quality_ok": true
+      }
+    }
+  ],
+  "source_type": "teleop",
+  "source_desc": "VR hand tracking data collected with Meta Quest 3 using hand tracking, 30 FPS, recorded 2026-08-15 21:07:32 using Quest 3",
+  "embodiment_id": "galaxea_r1_pro",
+  "robot_display_name": "Galaxea R1 Pro"
+}

side-grasp/side-grasp_20260815_210753/camera_real/calib.json

@@ -0,0 +1,35 @@
+{
+    "fx": 869.4921875,
+    "fy": 869.4921875,
+    "cx": 640.5423583984375,
+    "cy": 640.2724609375,
+    "width": 1280,
+    "height": 1280,
+    "dist": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+    ],
+    "distortion_model": "unmeasured",
+    "camera_id": "passthrough_left",
+    "capture_source": "passthrough",
+    "intrinsics_convention": "opencv_pinhole_top_left_origin_y_down",
+    "sensor_width": 1280,
+    "sensor_height": 1280,
+    "sensor_crop_rect_px": [
+        0.0,
+        0.0,
+        1280.0,
+        1280.0
+    ],
+    "delivered_width": 1280,
+    "delivered_height": 1280,
+    "blit_rect_uv": [
+        0.0,
+        0.0,
+        1.0,
+        1.0
+    ]
+}

side-grasp/side-grasp_20260815_210753/camera_real/frames.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e7c236d2cba308c167ba2f8544e7b3a19184680daa28136361349b5e1cd5f66
+size 29084672

side-grasp/side-grasp_20260815_210753/camera_real/side-grasp_20260815_210753_video.json

@@ -0,0 +1,27 @@
+{
+    "episode_id": "GalaxeaSide_20260815_210753",
+    "task_name": "GalaxeaSide",
+    "camera_key": "observation.images.external_front",
+    "video_relative_path": "Recordings/GalaxeaSide_20260815_210753/camera_real/GalaxeaSide-v1_20260815_210753.mp4",
+    "video_fps": 23.88640785217285,
+    "num_frames": 211,
+    "frame_stride": 1,
+    "width": 1280,
+    "height": 1280,
+    "frames_directory": "Recordings/GalaxeaSide_20260815_210753/camera_real",
+    "cameras": [],
+    "frame_integrity": [
+        {
+            "frame_index": 76,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 89,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 94,
+            "flag": "IMG_STATIC"
+        }
+    ]
+}

side-grasp/side-grasp_20260815_210753/side-grasp_20260815_210753_metadata.json

@@ -0,0 +1,62 @@
+{
+  "env_info": {
+    "env_id": "GalaxeaSide-v1",
+    "env_kwargs": {
+      "recording_start_realtime": 193.46954345703125,
+      "recording_start_unix_timestamp": 1786853273.2483783,
+      "device_name": "Quest 3",
+      "device_id": "device-01",
+      "coordinate_frame": "RUF",
+      "quaternion_convention": "xyzw_scalar_last",
+      "joint_capture_mode": "FullJointPoses",
+      "camera_enabled": true,
+      "camera_capture_fps": 24,
+      "camera_save_format": "JPEG"
+    },
+    "max_episode_steps": 10000
+  },
+  "episodes": [
+    {
+      "episode_id": 0,
+      "reset_kwargs": {},
+      "elapsed_steps": 211,
+      "info": {
+        "success": true,
+        "completion_time": 8.851181,
+        "final_reward": 1.0,
+        "device_name": "Quest 3",
+        "device_id": "device-01",
+        "tracking_method": "hand_tracking",
+        "embodiment_id": "galaxea_r1_pro",
+        "adapter_version": "ooj785-diag",
+        "retarget_success": true,
+        "raw_xr_joint_count": 52,
+        "output_joint_count": 14,
+        "validation_enabled": true,
+        "validation_frame_count": 211,
+        "workspace_quality_ok": true,
+        "workspace_violation_count": 0,
+        "workspace_compliance_percentage": 100.0,
+        "workspace_reference_frame": "base_link",
+        "workspace_bounds_center": [
+          0.0,
+          1.0,
+          0.0
+        ],
+        "workspace_bounds_size": [
+          3.0,
+          3.0,
+          3.0
+        ],
+        "joint_limit_quality_ok": true,
+        "joint_limit_violation_count": 0,
+        "joint_limit_compliance_percentage": 100.0,
+        "teleop_quality_ok": true
+      }
+    }
+  ],
+  "source_type": "teleop",
+  "source_desc": "VR hand tracking data collected with Meta Quest 3 using hand tracking, 30 FPS, recorded 2026-08-15 21:07:53 using Quest 3",
+  "embodiment_id": "galaxea_r1_pro",
+  "robot_display_name": "Galaxea R1 Pro"
+}

side-grasp/side-grasp_20260815_210809/camera_real/calib.json

@@ -0,0 +1,35 @@
+{
+    "fx": 869.4921875,
+    "fy": 869.4921875,
+    "cx": 640.5423583984375,
+    "cy": 640.2724609375,
+    "width": 1280,
+    "height": 1280,
+    "dist": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+    ],
+    "distortion_model": "unmeasured",
+    "camera_id": "passthrough_left",
+    "capture_source": "passthrough",
+    "intrinsics_convention": "opencv_pinhole_top_left_origin_y_down",
+    "sensor_width": 1280,
+    "sensor_height": 1280,
+    "sensor_crop_rect_px": [
+        0.0,
+        0.0,
+        1280.0,
+        1280.0
+    ],
+    "delivered_width": 1280,
+    "delivered_height": 1280,
+    "blit_rect_uv": [
+        0.0,
+        0.0,
+        1.0,
+        1.0
+    ]
+}

side-grasp/side-grasp_20260815_210809/camera_real/frames.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3001f411a5831d9a514429e0669da223ea8d8c19f2555de8742658a9334a77c5
+size 30581248

side-grasp/side-grasp_20260815_210809/camera_real/side-grasp_20260815_210809_video.json

@@ -0,0 +1,19 @@
+{
+    "episode_id": "GalaxeaSide_20260815_210809",
+    "task_name": "GalaxeaSide",
+    "camera_key": "observation.images.external_front",
+    "video_relative_path": "Recordings/GalaxeaSide_20260815_210809/camera_real/GalaxeaSide-v1_20260815_210809.mp4",
+    "video_fps": 23.598102569580079,
+    "num_frames": 233,
+    "frame_stride": 1,
+    "width": 1280,
+    "height": 1280,
+    "frames_directory": "Recordings/GalaxeaSide_20260815_210809/camera_real",
+    "cameras": [],
+    "frame_integrity": [
+        {
+            "frame_index": 201,
+            "flag": "IMG_STATIC"
+        }
+    ]
+}

side-grasp/side-grasp_20260815_210809/side-grasp_20260815_210809_metadata.json

@@ -0,0 +1,62 @@
+{
+  "env_info": {
+    "env_id": "GalaxeaSide-v1",
+    "env_kwargs": {
+      "recording_start_realtime": 210.09187316894531,
+      "recording_start_unix_timestamp": 1786853289.870708,
+      "device_name": "Quest 3",
+      "device_id": "device-01",
+      "coordinate_frame": "RUF",
+      "quaternion_convention": "xyzw_scalar_last",
+      "joint_capture_mode": "FullJointPoses",
+      "camera_enabled": true,
+      "camera_capture_fps": 24,
+      "camera_save_format": "JPEG"
+    },
+    "max_episode_steps": 10000
+  },
+  "episodes": [
+    {
+      "episode_id": 0,
+      "reset_kwargs": {},
+      "elapsed_steps": 233,
+      "info": {
+        "success": true,
+        "completion_time": 9.887558,
+        "final_reward": 1.0,
+        "device_name": "Quest 3",
+        "device_id": "device-01",
+        "tracking_method": "hand_tracking",
+        "embodiment_id": "galaxea_r1_pro",
+        "adapter_version": "ooj785-diag",
+        "retarget_success": true,
+        "raw_xr_joint_count": 52,
+        "output_joint_count": 14,
+        "validation_enabled": true,
+        "validation_frame_count": 233,
+        "workspace_quality_ok": true,
+        "workspace_violation_count": 0,
+        "workspace_compliance_percentage": 100.0,
+        "workspace_reference_frame": "base_link",
+        "workspace_bounds_center": [
+          0.0,
+          1.0,
+          0.0
+        ],
+        "workspace_bounds_size": [
+          3.0,
+          3.0,
+          3.0
+        ],
+        "joint_limit_quality_ok": true,
+        "joint_limit_violation_count": 0,
+        "joint_limit_compliance_percentage": 100.0,
+        "teleop_quality_ok": true
+      }
+    }
+  ],
+  "source_type": "teleop",
+  "source_desc": "VR hand tracking data collected with Meta Quest 3 using hand tracking, 30 FPS, recorded 2026-08-15 21:08:09 using Quest 3",
+  "embodiment_id": "galaxea_r1_pro",
+  "robot_display_name": "Galaxea R1 Pro"
+}

side-grasp/side-grasp_20260815_210826/camera_real/calib.json

@@ -0,0 +1,35 @@
+{
+    "fx": 869.4921875,
+    "fy": 869.4921875,
+    "cx": 640.5423583984375,
+    "cy": 640.2724609375,
+    "width": 1280,
+    "height": 1280,
+    "dist": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+    ],
+    "distortion_model": "unmeasured",
+    "camera_id": "passthrough_left",
+    "capture_source": "passthrough",
+    "intrinsics_convention": "opencv_pinhole_top_left_origin_y_down",
+    "sensor_width": 1280,
+    "sensor_height": 1280,
+    "sensor_crop_rect_px": [
+        0.0,
+        0.0,
+        1280.0,
+        1280.0
+    ],
+    "delivered_width": 1280,
+    "delivered_height": 1280,
+    "blit_rect_uv": [
+        0.0,
+        0.0,
+        1.0,
+        1.0
+    ]
+}

side-grasp/side-grasp_20260815_210826/camera_real/frames.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12cdbfc748dc725f431ce54b074164fa5a8c8f76930db6c5109da7ae63511883
+size 24608768

side-grasp/side-grasp_20260815_210826/camera_real/side-grasp_20260815_210826_video.json

@@ -0,0 +1,35 @@
+{
+    "episode_id": "GalaxeaSide_20260815_210826",
+    "task_name": "GalaxeaSide",
+    "camera_key": "observation.images.external_front",
+    "video_relative_path": "Recordings/GalaxeaSide_20260815_210826/camera_real/GalaxeaSide-v1_20260815_210826.mp4",
+    "video_fps": 23.676530838012697,
+    "num_frames": 187,
+    "frame_stride": 1,
+    "width": 1280,
+    "height": 1280,
+    "frames_directory": "Recordings/GalaxeaSide_20260815_210826/camera_real",
+    "cameras": [],
+    "frame_integrity": [
+        {
+            "frame_index": 99,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 102,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 154,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 181,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 184,
+            "flag": "IMG_STATIC"
+        }
+    ]
+}

side-grasp/side-grasp_20260815_210826/side-grasp_20260815_210826_metadata.json

@@ -0,0 +1,62 @@
+{
+  "env_info": {
+    "env_id": "GalaxeaSide-v1",
+    "env_kwargs": {
+      "recording_start_realtime": 226.34205627441406,
+      "recording_start_unix_timestamp": 1786853306.1208911,
+      "device_name": "Quest 3",
+      "device_id": "device-01",
+      "coordinate_frame": "RUF",
+      "quaternion_convention": "xyzw_scalar_last",
+      "joint_capture_mode": "FullJointPoses",
+      "camera_enabled": true,
+      "camera_capture_fps": 24,
+      "camera_save_format": "JPEG"
+    },
+    "max_episode_steps": 10000
+  },
+  "episodes": [
+    {
+      "episode_id": 0,
+      "reset_kwargs": {},
+      "elapsed_steps": 187,
+      "info": {
+        "success": true,
+        "completion_time": 7.8868866,
+        "final_reward": 1.0,
+        "device_name": "Quest 3",
+        "device_id": "device-01",
+        "tracking_method": "hand_tracking",
+        "embodiment_id": "galaxea_r1_pro",
+        "adapter_version": "ooj785-diag",
+        "retarget_success": true,
+        "raw_xr_joint_count": 52,
+        "output_joint_count": 14,
+        "validation_enabled": true,
+        "validation_frame_count": 187,
+        "workspace_quality_ok": true,
+        "workspace_violation_count": 0,
+        "workspace_compliance_percentage": 100.0,
+        "workspace_reference_frame": "base_link",
+        "workspace_bounds_center": [
+          0.0,
+          1.0,
+          0.0
+        ],
+        "workspace_bounds_size": [
+          3.0,
+          3.0,
+          3.0
+        ],
+        "joint_limit_quality_ok": true,
+        "joint_limit_violation_count": 0,
+        "joint_limit_compliance_percentage": 100.0,
+        "teleop_quality_ok": true
+      }
+    }
+  ],
+  "source_type": "teleop",
+  "source_desc": "VR hand tracking data collected with Meta Quest 3 using hand tracking, 30 FPS, recorded 2026-08-15 21:08:26 using Quest 3",
+  "embodiment_id": "galaxea_r1_pro",
+  "robot_display_name": "Galaxea R1 Pro"
+}

side-grasp/side-grasp_20260815_210841/camera_real/calib.json

@@ -0,0 +1,35 @@
+{
+    "fx": 869.4921875,
+    "fy": 869.4921875,
+    "cx": 640.5423583984375,
+    "cy": 640.2724609375,
+    "width": 1280,
+    "height": 1280,
+    "dist": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+    ],
+    "distortion_model": "unmeasured",
+    "camera_id": "passthrough_left",
+    "capture_source": "passthrough",
+    "intrinsics_convention": "opencv_pinhole_top_left_origin_y_down",
+    "sensor_width": 1280,
+    "sensor_height": 1280,
+    "sensor_crop_rect_px": [
+        0.0,
+        0.0,
+        1280.0,
+        1280.0
+    ],
+    "delivered_width": 1280,
+    "delivered_height": 1280,
+    "blit_rect_uv": [
+        0.0,
+        0.0,
+        1.0,
+        1.0
+    ]
+}

side-grasp/side-grasp_20260815_210841/camera_real/frames.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb6290120f74b6ce18470891b44a2b7dacb4c6796c64666ff5a1e6c9cd524d7b
+size 30553088

side-grasp/side-grasp_20260815_210841/camera_real/side-grasp_20260815_210841_video.json

@@ -0,0 +1,27 @@
+{
+    "episode_id": "GalaxeaSide_20260815_210841",
+    "task_name": "GalaxeaSide",
+    "camera_key": "observation.images.external_front",
+    "video_relative_path": "Recordings/GalaxeaSide_20260815_210841/camera_real/GalaxeaSide-v1_20260815_210841.mp4",
+    "video_fps": 23.870691299438478,
+    "num_frames": 232,
+    "frame_stride": 1,
+    "width": 1280,
+    "height": 1280,
+    "frames_directory": "Recordings/GalaxeaSide_20260815_210841/camera_real",
+    "cameras": [],
+    "frame_integrity": [
+        {
+            "frame_index": 4,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 44,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 115,
+            "flag": "IMG_STATIC"
+        }
+    ]
+}

side-grasp/side-grasp_20260815_210841/side-grasp_20260815_210841_metadata.json

@@ -0,0 +1,62 @@
+{
+  "env_info": {
+    "env_id": "GalaxeaSide-v1",
+    "env_kwargs": {
+      "recording_start_realtime": 241.27699279785156,
+      "recording_start_unix_timestamp": 1786853321.0558276,
+      "device_name": "Quest 3",
+      "device_id": "device-01",
+      "coordinate_frame": "RUF",
+      "quaternion_convention": "xyzw_scalar_last",
+      "joint_capture_mode": "FullJointPoses",
+      "camera_enabled": true,
+      "camera_capture_fps": 24,
+      "camera_save_format": "JPEG"
+    },
+    "max_episode_steps": 10000
+  },
+  "episodes": [
+    {
+      "episode_id": 0,
+      "reset_kwargs": {},
+      "elapsed_steps": 232,
+      "info": {
+        "success": true,
+        "completion_time": 9.741486,
+        "final_reward": 1.0,
+        "device_name": "Quest 3",
+        "device_id": "device-01",
+        "tracking_method": "hand_tracking",
+        "embodiment_id": "galaxea_r1_pro",
+        "adapter_version": "ooj785-diag",
+        "retarget_success": true,
+        "raw_xr_joint_count": 52,
+        "output_joint_count": 14,
+        "validation_enabled": true,
+        "validation_frame_count": 232,
+        "workspace_quality_ok": true,
+        "workspace_violation_count": 0,
+        "workspace_compliance_percentage": 100.0,
+        "workspace_reference_frame": "base_link",
+        "workspace_bounds_center": [
+          0.0,
+          1.0,
+          0.0
+        ],
+        "workspace_bounds_size": [
+          3.0,
+          3.0,
+          3.0
+        ],
+        "joint_limit_quality_ok": true,
+        "joint_limit_violation_count": 0,
+        "joint_limit_compliance_percentage": 100.0,
+        "teleop_quality_ok": true
+      }
+    }
+  ],
+  "source_type": "teleop",
+  "source_desc": "VR hand tracking data collected with Meta Quest 3 using hand tracking, 30 FPS, recorded 2026-08-15 21:08:41 using Quest 3",
+  "embodiment_id": "galaxea_r1_pro",
+  "robot_display_name": "Galaxea R1 Pro"
+}

side-grasp/side-grasp_20260815_210857/camera_real/calib.json

@@ -0,0 +1,35 @@
+{
+    "fx": 869.4921875,
+    "fy": 869.4921875,
+    "cx": 640.5423583984375,
+    "cy": 640.2724609375,
+    "width": 1280,
+    "height": 1280,
+    "dist": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+    ],
+    "distortion_model": "unmeasured",
+    "camera_id": "passthrough_left",
+    "capture_source": "passthrough",
+    "intrinsics_convention": "opencv_pinhole_top_left_origin_y_down",
+    "sensor_width": 1280,
+    "sensor_height": 1280,
+    "sensor_crop_rect_px": [
+        0.0,
+        0.0,
+        1280.0,
+        1280.0
+    ],
+    "delivered_width": 1280,
+    "delivered_height": 1280,
+    "blit_rect_uv": [
+        0.0,
+        0.0,
+        1.0,
+        1.0
+    ]
+}

side-grasp/side-grasp_20260815_210857/camera_real/frames.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:080bbbb411eed347030f450150b260d6caf51cb8833b15253f1cce64373c30b4
+size 30761984

side-grasp/side-grasp_20260815_210857/camera_real/side-grasp_20260815_210857_video.json

@@ -0,0 +1,23 @@
+{
+    "episode_id": "GalaxeaSide_20260815_210857",
+    "task_name": "GalaxeaSide",
+    "camera_key": "observation.images.external_front",
+    "video_relative_path": "Recordings/GalaxeaSide_20260815_210857/camera_real/GalaxeaSide-v1_20260815_210857.mp4",
+    "video_fps": 23.85030746459961,
+    "num_frames": 227,
+    "frame_stride": 1,
+    "width": 1280,
+    "height": 1280,
+    "frames_directory": "Recordings/GalaxeaSide_20260815_210857/camera_real",
+    "cameras": [],
+    "frame_integrity": [
+        {
+            "frame_index": 131,
+            "flag": "IMG_STATIC"
+        },
+        {
+            "frame_index": 154,
+            "flag": "IMG_STATIC"
+        }
+    ]
+}