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README.md
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|
| 1 |
+
---
|
| 2 |
+
license: apache-2.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
|
| 5 |
+
tags:
|
| 6 |
+
- LeRobot
|
| 7 |
+
configs:
|
| 8 |
+
- config_name: default
|
| 9 |
+
data_files: data/*/*.parquet
|
| 10 |
+
---
|
| 11 |
+
|
| 12 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 13 |
+
|
| 14 |
+
## Dataset Description
|
| 15 |
+
|
| 16 |
+
|
| 17 |
+
|
| 18 |
+
- **Homepage:** [More Information Needed]
|
| 19 |
+
- **Paper:** [More Information Needed]
|
| 20 |
+
- **License:** apache-2.0
|
| 21 |
+
|
| 22 |
+
## Dataset Structure
|
| 23 |
+
|
| 24 |
+
[meta/info.json](meta/info.json):
|
| 25 |
+
```json
|
| 26 |
+
{
|
| 27 |
+
"codebase_version": "v2.1",
|
| 28 |
+
"robot_type": "DualPanda",
|
| 29 |
+
"total_episodes": 10,
|
| 30 |
+
"total_frames": 4945,
|
| 31 |
+
"total_tasks": 1,
|
| 32 |
+
"total_videos": 0,
|
| 33 |
+
"total_chunks": 1,
|
| 34 |
+
"chunks_size": 1000,
|
| 35 |
+
"fps": 50,
|
| 36 |
+
"splits": {
|
| 37 |
+
"train": "0:10"
|
| 38 |
+
},
|
| 39 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 40 |
+
"video_path": null,
|
| 41 |
+
"features": {
|
| 42 |
+
"observation.joint": {
|
| 43 |
+
"dtype": "float32",
|
| 44 |
+
"shape": [
|
| 45 |
+
16
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"l_robot/joint1",
|
| 49 |
+
"l_robot/joint2",
|
| 50 |
+
"l_robot/joint3",
|
| 51 |
+
"l_robot/joint4",
|
| 52 |
+
"l_robot/joint5",
|
| 53 |
+
"l_robot/joint6",
|
| 54 |
+
"l_robot/joint7",
|
| 55 |
+
"l_robot/right_driver_joint",
|
| 56 |
+
"l_robot/right_coupler_joint",
|
| 57 |
+
"l_robot/right_spring_link_joint",
|
| 58 |
+
"l_robot/right_follower_joint",
|
| 59 |
+
"l_robot/left_driver_joint",
|
| 60 |
+
"l_robot/left_coupler_joint",
|
| 61 |
+
"l_robot/left_spring_link_joint",
|
| 62 |
+
"l_robot/left_follower_joint",
|
| 63 |
+
"r_robot/joint1",
|
| 64 |
+
"r_robot/joint2",
|
| 65 |
+
"r_robot/joint3",
|
| 66 |
+
"r_robot/joint4",
|
| 67 |
+
"r_robot/joint5",
|
| 68 |
+
"r_robot/joint6",
|
| 69 |
+
"r_robot/joint7",
|
| 70 |
+
"r_robot/right_driver_joint",
|
| 71 |
+
"r_robot/right_coupler_joint",
|
| 72 |
+
"r_robot/right_spring_link_joint",
|
| 73 |
+
"r_robot/right_follower_joint",
|
| 74 |
+
"r_robot/left_driver_joint",
|
| 75 |
+
"r_robot/left_coupler_joint",
|
| 76 |
+
"r_robot/left_spring_link_joint",
|
| 77 |
+
"r_robot/left_follower_joint"
|
| 78 |
+
]
|
| 79 |
+
},
|
| 80 |
+
"observation.state": {
|
| 81 |
+
"dtype": "float32",
|
| 82 |
+
"shape": [
|
| 83 |
+
30
|
| 84 |
+
],
|
| 85 |
+
"names": [
|
| 86 |
+
"l_robot/joint1",
|
| 87 |
+
"l_robot/joint2",
|
| 88 |
+
"l_robot/joint3",
|
| 89 |
+
"l_robot/joint4",
|
| 90 |
+
"l_robot/joint5",
|
| 91 |
+
"l_robot/joint6",
|
| 92 |
+
"l_robot/joint7",
|
| 93 |
+
"l_robot/right_driver_joint",
|
| 94 |
+
"l_robot/right_coupler_joint",
|
| 95 |
+
"l_robot/right_spring_link_joint",
|
| 96 |
+
"l_robot/right_follower_joint",
|
| 97 |
+
"l_robot/left_driver_joint",
|
| 98 |
+
"l_robot/left_coupler_joint",
|
| 99 |
+
"l_robot/left_spring_link_joint",
|
| 100 |
+
"l_robot/left_follower_joint",
|
| 101 |
+
"r_robot/joint1",
|
| 102 |
+
"r_robot/joint2",
|
| 103 |
+
"r_robot/joint3",
|
| 104 |
+
"r_robot/joint4",
|
| 105 |
+
"r_robot/joint5",
|
| 106 |
+
"r_robot/joint6",
|
| 107 |
+
"r_robot/joint7",
|
| 108 |
+
"r_robot/right_driver_joint",
|
| 109 |
+
"r_robot/right_coupler_joint",
|
| 110 |
+
"r_robot/right_spring_link_joint",
|
| 111 |
+
"r_robot/right_follower_joint",
|
| 112 |
+
"r_robot/left_driver_joint",
|
| 113 |
+
"r_robot/left_coupler_joint",
|
| 114 |
+
"r_robot/left_spring_link_joint",
|
| 115 |
+
"r_robot/left_follower_joint"
|
| 116 |
+
]
|
| 117 |
+
},
|
| 118 |
+
"observation.environment_state": {
|
| 119 |
+
"dtype": "float32",
|
| 120 |
+
"shape": [
|
| 121 |
+
14
|
| 122 |
+
],
|
| 123 |
+
"names": [
|
| 124 |
+
"mug_with_tag_px",
|
| 125 |
+
"mug_with_tag_py",
|
| 126 |
+
"mug_with_tag_pz",
|
| 127 |
+
"mug_with_tag_qw",
|
| 128 |
+
"mug_with_tag_qx",
|
| 129 |
+
"mug_with_tag_qy",
|
| 130 |
+
"mug_with_tag_qz",
|
| 131 |
+
"mugtree_with_tag_px",
|
| 132 |
+
"mugtree_with_tag_py",
|
| 133 |
+
"mugtree_with_tag_pz",
|
| 134 |
+
"mugtree_with_tag_qw",
|
| 135 |
+
"mugtree_with_tag_qx",
|
| 136 |
+
"mugtree_with_tag_qy",
|
| 137 |
+
"mugtree_with_tag_qz"
|
| 138 |
+
]
|
| 139 |
+
},
|
| 140 |
+
"observation.environment.block_xy": {
|
| 141 |
+
"dtype": "float32",
|
| 142 |
+
"shape": [
|
| 143 |
+
2
|
| 144 |
+
],
|
| 145 |
+
"names": [
|
| 146 |
+
"block_x",
|
| 147 |
+
"block_y"
|
| 148 |
+
]
|
| 149 |
+
},
|
| 150 |
+
"observation.right_arm.joint": {
|
| 151 |
+
"dtype": "float32",
|
| 152 |
+
"shape": [
|
| 153 |
+
7
|
| 154 |
+
]
|
| 155 |
+
},
|
| 156 |
+
"observation.right.joint": {
|
| 157 |
+
"dtype": "float32",
|
| 158 |
+
"shape": [
|
| 159 |
+
8
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
"observation.left_arm.joint": {
|
| 163 |
+
"dtype": "float32",
|
| 164 |
+
"shape": [
|
| 165 |
+
7
|
| 166 |
+
]
|
| 167 |
+
},
|
| 168 |
+
"observation.qvel": {
|
| 169 |
+
"dtype": "float32",
|
| 170 |
+
"shape": [
|
| 171 |
+
30
|
| 172 |
+
],
|
| 173 |
+
"names": [
|
| 174 |
+
"l_robot/joint1",
|
| 175 |
+
"l_robot/joint2",
|
| 176 |
+
"l_robot/joint3",
|
| 177 |
+
"l_robot/joint4",
|
| 178 |
+
"l_robot/joint5",
|
| 179 |
+
"l_robot/joint6",
|
| 180 |
+
"l_robot/joint7",
|
| 181 |
+
"l_robot/right_driver_joint",
|
| 182 |
+
"l_robot/right_coupler_joint",
|
| 183 |
+
"l_robot/right_spring_link_joint",
|
| 184 |
+
"l_robot/right_follower_joint",
|
| 185 |
+
"l_robot/left_driver_joint",
|
| 186 |
+
"l_robot/left_coupler_joint",
|
| 187 |
+
"l_robot/left_spring_link_joint",
|
| 188 |
+
"l_robot/left_follower_joint",
|
| 189 |
+
"r_robot/joint1",
|
| 190 |
+
"r_robot/joint2",
|
| 191 |
+
"r_robot/joint3",
|
| 192 |
+
"r_robot/joint4",
|
| 193 |
+
"r_robot/joint5",
|
| 194 |
+
"r_robot/joint6",
|
| 195 |
+
"r_robot/joint7",
|
| 196 |
+
"r_robot/right_driver_joint",
|
| 197 |
+
"r_robot/right_coupler_joint",
|
| 198 |
+
"r_robot/right_spring_link_joint",
|
| 199 |
+
"r_robot/right_follower_joint",
|
| 200 |
+
"r_robot/left_driver_joint",
|
| 201 |
+
"r_robot/left_coupler_joint",
|
| 202 |
+
"r_robot/left_spring_link_joint",
|
| 203 |
+
"r_robot/left_follower_joint"
|
| 204 |
+
]
|
| 205 |
+
},
|
| 206 |
+
"observation.env_qvel": {
|
| 207 |
+
"dtype": "float32",
|
| 208 |
+
"shape": [
|
| 209 |
+
12
|
| 210 |
+
],
|
| 211 |
+
"names": [
|
| 212 |
+
"mug_with_tag_vx",
|
| 213 |
+
"mug_with_tag_vy",
|
| 214 |
+
"mug_with_tag_vz",
|
| 215 |
+
"mug_with_tag_wx",
|
| 216 |
+
"mug_with_tag_wy",
|
| 217 |
+
"mug_with_tag_wz",
|
| 218 |
+
"mugtree_with_tag_vx",
|
| 219 |
+
"mugtree_with_tag_vy",
|
| 220 |
+
"mugtree_with_tag_vz",
|
| 221 |
+
"mugtree_with_tag_wx",
|
| 222 |
+
"mugtree_with_tag_wy",
|
| 223 |
+
"mugtree_with_tag_wz"
|
| 224 |
+
]
|
| 225 |
+
},
|
| 226 |
+
"observation.ee_pose": {
|
| 227 |
+
"dtype": "float32",
|
| 228 |
+
"shape": [
|
| 229 |
+
16
|
| 230 |
+
],
|
| 231 |
+
"names": [
|
| 232 |
+
"l_robot/hand_x",
|
| 233 |
+
"l_robot/hand_y",
|
| 234 |
+
"l_robot/hand_z",
|
| 235 |
+
"l_robot/hand_qw",
|
| 236 |
+
"l_robot/hand_qx",
|
| 237 |
+
"l_robot/hand_qy",
|
| 238 |
+
"l_robot/hand_qz",
|
| 239 |
+
"l_robot/gripper",
|
| 240 |
+
"r_robot/hand_x",
|
| 241 |
+
"r_robot/hand_y",
|
| 242 |
+
"r_robot/hand_z",
|
| 243 |
+
"r_robot/hand_qw",
|
| 244 |
+
"r_robot/hand_qx",
|
| 245 |
+
"r_robot/hand_qy",
|
| 246 |
+
"r_robot/hand_qz",
|
| 247 |
+
"r_robot/gripper"
|
| 248 |
+
]
|
| 249 |
+
},
|
| 250 |
+
"action.ctrl": {
|
| 251 |
+
"dtype": "float32",
|
| 252 |
+
"shape": [
|
| 253 |
+
16
|
| 254 |
+
],
|
| 255 |
+
"names": [
|
| 256 |
+
"l_robot/actuator1",
|
| 257 |
+
"l_robot/actuator2",
|
| 258 |
+
"l_robot/actuator3",
|
| 259 |
+
"l_robot/actuator4",
|
| 260 |
+
"l_robot/actuator5",
|
| 261 |
+
"l_robot/actuator6",
|
| 262 |
+
"l_robot/actuator7",
|
| 263 |
+
"l_robot/fingers_actuator",
|
| 264 |
+
"r_robot/actuator1",
|
| 265 |
+
"r_robot/actuator2",
|
| 266 |
+
"r_robot/actuator3",
|
| 267 |
+
"r_robot/actuator4",
|
| 268 |
+
"r_robot/actuator5",
|
| 269 |
+
"r_robot/actuator6",
|
| 270 |
+
"r_robot/actuator7",
|
| 271 |
+
"r_robot/fingers_actuator"
|
| 272 |
+
]
|
| 273 |
+
},
|
| 274 |
+
"action.joint": {
|
| 275 |
+
"dtype": "float32",
|
| 276 |
+
"shape": [
|
| 277 |
+
16
|
| 278 |
+
],
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"dtype": "float32",
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3
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],
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+
"names": [
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| 734 |
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"yaxis"
|
| 735 |
+
]
|
| 736 |
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},
|
| 737 |
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|
| 738 |
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"dtype": "float32",
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| 739 |
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"shape": [
|
| 740 |
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3
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| 741 |
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],
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| 742 |
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"names": [
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| 743 |
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"zaxis"
|
| 744 |
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]
|
| 745 |
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},
|
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| 747 |
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"dtype": "float32",
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"shape": [
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| 749 |
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3,
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| 750 |
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3
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| 751 |
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],
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| 752 |
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"names": [
|
| 753 |
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"mat"
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| 754 |
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]
|
| 755 |
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},
|
| 756 |
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|
| 757 |
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"dtype": "float32",
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| 758 |
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"shape": [
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| 759 |
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16
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| 760 |
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],
|
| 761 |
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"names": [
|
| 762 |
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"full_mat"
|
| 763 |
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]
|
| 764 |
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},
|
| 765 |
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|
| 766 |
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"dtype": "float32",
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| 767 |
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"shape": [
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| 768 |
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12
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| 769 |
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],
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| 770 |
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"names": [
|
| 771 |
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"reduced_mat"
|
| 772 |
+
]
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| 773 |
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| 774 |
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|
| 775 |
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"dtype": "float32",
|
| 776 |
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"shape": [
|
| 777 |
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1
|
| 778 |
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],
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| 779 |
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"names": [
|
| 780 |
+
"x"
|
| 781 |
+
]
|
| 782 |
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},
|
| 783 |
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|
| 784 |
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"dtype": "float32",
|
| 785 |
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"shape": [
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| 786 |
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1
|
| 787 |
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],
|
| 788 |
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"names": [
|
| 789 |
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"y"
|
| 790 |
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]
|
| 791 |
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|
| 792 |
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|
| 793 |
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"dtype": "float32",
|
| 794 |
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"shape": [
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| 795 |
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1
|
| 796 |
+
],
|
| 797 |
+
"names": [
|
| 798 |
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"z"
|
| 799 |
+
]
|
| 800 |
+
},
|
| 801 |
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"observation.environment.mugtree_with_tag.tree1.xy": {
|
| 802 |
+
"dtype": "float32",
|
| 803 |
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"shape": [
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| 804 |
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2
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| 805 |
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],
|
| 806 |
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"names": [
|
| 807 |
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"xy"
|
| 808 |
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]
|
| 809 |
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},
|
| 810 |
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"observation.environment.mugtree_with_tag.tree1.xyz": {
|
| 811 |
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"dtype": "float32",
|
| 812 |
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"shape": [
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| 813 |
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3
|
| 814 |
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],
|
| 815 |
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"names": [
|
| 816 |
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"xyz"
|
| 817 |
+
]
|
| 818 |
+
},
|
| 819 |
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"observation.environment.mugtree_with_tag.tree1.quat": {
|
| 820 |
+
"dtype": "float32",
|
| 821 |
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"shape": [
|
| 822 |
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4
|
| 823 |
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],
|
| 824 |
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"names": [
|
| 825 |
+
"quat"
|
| 826 |
+
]
|
| 827 |
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},
|
| 828 |
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"observation.environment.mugtree_with_tag.tree1.euler": {
|
| 829 |
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"dtype": "float32",
|
| 830 |
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"shape": [
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| 831 |
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3
|
| 832 |
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],
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| 833 |
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"names": [
|
| 834 |
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"euler"
|
| 835 |
+
]
|
| 836 |
+
},
|
| 837 |
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"observation.environment.mugtree_with_tag.tree1.posquat": {
|
| 838 |
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"dtype": "float32",
|
| 839 |
+
"shape": [
|
| 840 |
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|
| 841 |
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],
|
| 842 |
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"names": [
|
| 843 |
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"posquat"
|
| 844 |
+
]
|
| 845 |
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},
|
| 846 |
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|
| 847 |
+
"dtype": "float32",
|
| 848 |
+
"shape": [
|
| 849 |
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3
|
| 850 |
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],
|
| 851 |
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"names": [
|
| 852 |
+
"xaxis"
|
| 853 |
+
]
|
| 854 |
+
},
|
| 855 |
+
"observation.environment.mugtree_with_tag.tree1.yaxis": {
|
| 856 |
+
"dtype": "float32",
|
| 857 |
+
"shape": [
|
| 858 |
+
3
|
| 859 |
+
],
|
| 860 |
+
"names": [
|
| 861 |
+
"yaxis"
|
| 862 |
+
]
|
| 863 |
+
},
|
| 864 |
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"observation.environment.mugtree_with_tag.tree1.zaxis": {
|
| 865 |
+
"dtype": "float32",
|
| 866 |
+
"shape": [
|
| 867 |
+
3
|
| 868 |
+
],
|
| 869 |
+
"names": [
|
| 870 |
+
"zaxis"
|
| 871 |
+
]
|
| 872 |
+
},
|
| 873 |
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"observation.environment.mugtree_with_tag.tree1.mat": {
|
| 874 |
+
"dtype": "float32",
|
| 875 |
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"shape": [
|
| 876 |
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3,
|
| 877 |
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3
|
| 878 |
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],
|
| 879 |
+
"names": [
|
| 880 |
+
"mat"
|
| 881 |
+
]
|
| 882 |
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},
|
| 883 |
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|
| 884 |
+
"dtype": "float32",
|
| 885 |
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"shape": [
|
| 886 |
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16
|
| 887 |
+
],
|
| 888 |
+
"names": [
|
| 889 |
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"full_mat"
|
| 890 |
+
]
|
| 891 |
+
},
|
| 892 |
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|
| 893 |
+
"dtype": "float32",
|
| 894 |
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"shape": [
|
| 895 |
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12
|
| 896 |
+
],
|
| 897 |
+
"names": [
|
| 898 |
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"reduced_mat"
|
| 899 |
+
]
|
| 900 |
+
},
|
| 901 |
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|
| 902 |
+
"dtype": "float32",
|
| 903 |
+
"shape": [
|
| 904 |
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1
|
| 905 |
+
],
|
| 906 |
+
"names": [
|
| 907 |
+
"x"
|
| 908 |
+
]
|
| 909 |
+
},
|
| 910 |
+
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|
| 911 |
+
"dtype": "float32",
|
| 912 |
+
"shape": [
|
| 913 |
+
1
|
| 914 |
+
],
|
| 915 |
+
"names": [
|
| 916 |
+
"y"
|
| 917 |
+
]
|
| 918 |
+
},
|
| 919 |
+
"observation.environment.mugtree_with_tag.tree2.z": {
|
| 920 |
+
"dtype": "float32",
|
| 921 |
+
"shape": [
|
| 922 |
+
1
|
| 923 |
+
],
|
| 924 |
+
"names": [
|
| 925 |
+
"z"
|
| 926 |
+
]
|
| 927 |
+
},
|
| 928 |
+
"observation.environment.mugtree_with_tag.tree2.xy": {
|
| 929 |
+
"dtype": "float32",
|
| 930 |
+
"shape": [
|
| 931 |
+
2
|
| 932 |
+
],
|
| 933 |
+
"names": [
|
| 934 |
+
"xy"
|
| 935 |
+
]
|
| 936 |
+
},
|
| 937 |
+
"observation.environment.mugtree_with_tag.tree2.xyz": {
|
| 938 |
+
"dtype": "float32",
|
| 939 |
+
"shape": [
|
| 940 |
+
3
|
| 941 |
+
],
|
| 942 |
+
"names": [
|
| 943 |
+
"xyz"
|
| 944 |
+
]
|
| 945 |
+
},
|
| 946 |
+
"observation.environment.mugtree_with_tag.tree2.quat": {
|
| 947 |
+
"dtype": "float32",
|
| 948 |
+
"shape": [
|
| 949 |
+
4
|
| 950 |
+
],
|
| 951 |
+
"names": [
|
| 952 |
+
"quat"
|
| 953 |
+
]
|
| 954 |
+
},
|
| 955 |
+
"observation.environment.mugtree_with_tag.tree2.euler": {
|
| 956 |
+
"dtype": "float32",
|
| 957 |
+
"shape": [
|
| 958 |
+
3
|
| 959 |
+
],
|
| 960 |
+
"names": [
|
| 961 |
+
"euler"
|
| 962 |
+
]
|
| 963 |
+
},
|
| 964 |
+
"observation.environment.mugtree_with_tag.tree2.posquat": {
|
| 965 |
+
"dtype": "float32",
|
| 966 |
+
"shape": [
|
| 967 |
+
7
|
| 968 |
+
],
|
| 969 |
+
"names": [
|
| 970 |
+
"posquat"
|
| 971 |
+
]
|
| 972 |
+
},
|
| 973 |
+
"observation.environment.mugtree_with_tag.tree2.xaxis": {
|
| 974 |
+
"dtype": "float32",
|
| 975 |
+
"shape": [
|
| 976 |
+
3
|
| 977 |
+
],
|
| 978 |
+
"names": [
|
| 979 |
+
"xaxis"
|
| 980 |
+
]
|
| 981 |
+
},
|
| 982 |
+
"observation.environment.mugtree_with_tag.tree2.yaxis": {
|
| 983 |
+
"dtype": "float32",
|
| 984 |
+
"shape": [
|
| 985 |
+
3
|
| 986 |
+
],
|
| 987 |
+
"names": [
|
| 988 |
+
"yaxis"
|
| 989 |
+
]
|
| 990 |
+
},
|
| 991 |
+
"observation.environment.mugtree_with_tag.tree2.zaxis": {
|
| 992 |
+
"dtype": "float32",
|
| 993 |
+
"shape": [
|
| 994 |
+
3
|
| 995 |
+
],
|
| 996 |
+
"names": [
|
| 997 |
+
"zaxis"
|
| 998 |
+
]
|
| 999 |
+
},
|
| 1000 |
+
"observation.environment.mugtree_with_tag.tree2.mat": {
|
| 1001 |
+
"dtype": "float32",
|
| 1002 |
+
"shape": [
|
| 1003 |
+
3,
|
| 1004 |
+
3
|
| 1005 |
+
],
|
| 1006 |
+
"names": [
|
| 1007 |
+
"mat"
|
| 1008 |
+
]
|
| 1009 |
+
},
|
| 1010 |
+
"observation.environment.mugtree_with_tag.tree2.full_mat": {
|
| 1011 |
+
"dtype": "float32",
|
| 1012 |
+
"shape": [
|
| 1013 |
+
16
|
| 1014 |
+
],
|
| 1015 |
+
"names": [
|
| 1016 |
+
"full_mat"
|
| 1017 |
+
]
|
| 1018 |
+
},
|
| 1019 |
+
"observation.environment.mugtree_with_tag.tree2.reduced_mat": {
|
| 1020 |
+
"dtype": "float32",
|
| 1021 |
+
"shape": [
|
| 1022 |
+
12
|
| 1023 |
+
],
|
| 1024 |
+
"names": [
|
| 1025 |
+
"reduced_mat"
|
| 1026 |
+
]
|
| 1027 |
+
},
|
| 1028 |
+
"observation.environment.mugtree_with_tag.tree3.x": {
|
| 1029 |
+
"dtype": "float32",
|
| 1030 |
+
"shape": [
|
| 1031 |
+
1
|
| 1032 |
+
],
|
| 1033 |
+
"names": [
|
| 1034 |
+
"x"
|
| 1035 |
+
]
|
| 1036 |
+
},
|
| 1037 |
+
"observation.environment.mugtree_with_tag.tree3.y": {
|
| 1038 |
+
"dtype": "float32",
|
| 1039 |
+
"shape": [
|
| 1040 |
+
1
|
| 1041 |
+
],
|
| 1042 |
+
"names": [
|
| 1043 |
+
"y"
|
| 1044 |
+
]
|
| 1045 |
+
},
|
| 1046 |
+
"observation.environment.mugtree_with_tag.tree3.z": {
|
| 1047 |
+
"dtype": "float32",
|
| 1048 |
+
"shape": [
|
| 1049 |
+
1
|
| 1050 |
+
],
|
| 1051 |
+
"names": [
|
| 1052 |
+
"z"
|
| 1053 |
+
]
|
| 1054 |
+
},
|
| 1055 |
+
"observation.environment.mugtree_with_tag.tree3.xy": {
|
| 1056 |
+
"dtype": "float32",
|
| 1057 |
+
"shape": [
|
| 1058 |
+
2
|
| 1059 |
+
],
|
| 1060 |
+
"names": [
|
| 1061 |
+
"xy"
|
| 1062 |
+
]
|
| 1063 |
+
},
|
| 1064 |
+
"observation.environment.mugtree_with_tag.tree3.xyz": {
|
| 1065 |
+
"dtype": "float32",
|
| 1066 |
+
"shape": [
|
| 1067 |
+
3
|
| 1068 |
+
],
|
| 1069 |
+
"names": [
|
| 1070 |
+
"xyz"
|
| 1071 |
+
]
|
| 1072 |
+
},
|
| 1073 |
+
"observation.environment.mugtree_with_tag.tree3.quat": {
|
| 1074 |
+
"dtype": "float32",
|
| 1075 |
+
"shape": [
|
| 1076 |
+
4
|
| 1077 |
+
],
|
| 1078 |
+
"names": [
|
| 1079 |
+
"quat"
|
| 1080 |
+
]
|
| 1081 |
+
},
|
| 1082 |
+
"observation.environment.mugtree_with_tag.tree3.euler": {
|
| 1083 |
+
"dtype": "float32",
|
| 1084 |
+
"shape": [
|
| 1085 |
+
3
|
| 1086 |
+
],
|
| 1087 |
+
"names": [
|
| 1088 |
+
"euler"
|
| 1089 |
+
]
|
| 1090 |
+
},
|
| 1091 |
+
"observation.environment.mugtree_with_tag.tree3.posquat": {
|
| 1092 |
+
"dtype": "float32",
|
| 1093 |
+
"shape": [
|
| 1094 |
+
7
|
| 1095 |
+
],
|
| 1096 |
+
"names": [
|
| 1097 |
+
"posquat"
|
| 1098 |
+
]
|
| 1099 |
+
},
|
| 1100 |
+
"observation.environment.mugtree_with_tag.tree3.xaxis": {
|
| 1101 |
+
"dtype": "float32",
|
| 1102 |
+
"shape": [
|
| 1103 |
+
3
|
| 1104 |
+
],
|
| 1105 |
+
"names": [
|
| 1106 |
+
"xaxis"
|
| 1107 |
+
]
|
| 1108 |
+
},
|
| 1109 |
+
"observation.environment.mugtree_with_tag.tree3.yaxis": {
|
| 1110 |
+
"dtype": "float32",
|
| 1111 |
+
"shape": [
|
| 1112 |
+
3
|
| 1113 |
+
],
|
| 1114 |
+
"names": [
|
| 1115 |
+
"yaxis"
|
| 1116 |
+
]
|
| 1117 |
+
},
|
| 1118 |
+
"observation.environment.mugtree_with_tag.tree3.zaxis": {
|
| 1119 |
+
"dtype": "float32",
|
| 1120 |
+
"shape": [
|
| 1121 |
+
3
|
| 1122 |
+
],
|
| 1123 |
+
"names": [
|
| 1124 |
+
"zaxis"
|
| 1125 |
+
]
|
| 1126 |
+
},
|
| 1127 |
+
"observation.environment.mugtree_with_tag.tree3.mat": {
|
| 1128 |
+
"dtype": "float32",
|
| 1129 |
+
"shape": [
|
| 1130 |
+
3,
|
| 1131 |
+
3
|
| 1132 |
+
],
|
| 1133 |
+
"names": [
|
| 1134 |
+
"mat"
|
| 1135 |
+
]
|
| 1136 |
+
},
|
| 1137 |
+
"observation.environment.mugtree_with_tag.tree3.full_mat": {
|
| 1138 |
+
"dtype": "float32",
|
| 1139 |
+
"shape": [
|
| 1140 |
+
16
|
| 1141 |
+
],
|
| 1142 |
+
"names": [
|
| 1143 |
+
"full_mat"
|
| 1144 |
+
]
|
| 1145 |
+
},
|
| 1146 |
+
"observation.environment.mugtree_with_tag.tree3.reduced_mat": {
|
| 1147 |
+
"dtype": "float32",
|
| 1148 |
+
"shape": [
|
| 1149 |
+
12
|
| 1150 |
+
],
|
| 1151 |
+
"names": [
|
| 1152 |
+
"reduced_mat"
|
| 1153 |
+
]
|
| 1154 |
+
}
|
| 1155 |
+
}
|
| 1156 |
+
}
|
| 1157 |
+
```
|
| 1158 |
+
|
| 1159 |
+
|
| 1160 |
+
## Citation
|
| 1161 |
+
|
| 1162 |
+
**BibTeX:**
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| 1163 |
+
|
| 1164 |
+
```bibtex
|
| 1165 |
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[More Information Needed]
|
| 1166 |
+
```
|