File size: 13,554 Bytes
fb767fc
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
{
    "codebase_version": "v2.1",
    "robot_type": "DualPanda",
    "total_episodes": 10,
    "total_frames": 3759,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:10"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "observation.joint": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "l_robot/joint1",
                "l_robot/joint2",
                "l_robot/joint3",
                "l_robot/joint4",
                "l_robot/joint5",
                "l_robot/joint6",
                "l_robot/joint7",
                "l_robot/right_driver_joint",
                "l_robot/right_coupler_joint",
                "l_robot/right_spring_link_joint",
                "l_robot/right_follower_joint",
                "l_robot/left_driver_joint",
                "l_robot/left_coupler_joint",
                "l_robot/left_spring_link_joint",
                "l_robot/left_follower_joint",
                "r_robot/joint1",
                "r_robot/joint2",
                "r_robot/joint3",
                "r_robot/joint4",
                "r_robot/joint5",
                "r_robot/joint6",
                "r_robot/joint7",
                "r_robot/right_driver_joint",
                "r_robot/right_coupler_joint",
                "r_robot/right_spring_link_joint",
                "r_robot/right_follower_joint",
                "r_robot/left_driver_joint",
                "r_robot/left_coupler_joint",
                "r_robot/left_spring_link_joint",
                "r_robot/left_follower_joint"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                30
            ],
            "names": [
                "l_robot/joint1",
                "l_robot/joint2",
                "l_robot/joint3",
                "l_robot/joint4",
                "l_robot/joint5",
                "l_robot/joint6",
                "l_robot/joint7",
                "l_robot/right_driver_joint",
                "l_robot/right_coupler_joint",
                "l_robot/right_spring_link_joint",
                "l_robot/right_follower_joint",
                "l_robot/left_driver_joint",
                "l_robot/left_coupler_joint",
                "l_robot/left_spring_link_joint",
                "l_robot/left_follower_joint",
                "r_robot/joint1",
                "r_robot/joint2",
                "r_robot/joint3",
                "r_robot/joint4",
                "r_robot/joint5",
                "r_robot/joint6",
                "r_robot/joint7",
                "r_robot/right_driver_joint",
                "r_robot/right_coupler_joint",
                "r_robot/right_spring_link_joint",
                "r_robot/right_follower_joint",
                "r_robot/left_driver_joint",
                "r_robot/left_coupler_joint",
                "r_robot/left_spring_link_joint",
                "r_robot/left_follower_joint"
            ]
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "tblock_px",
                "tblock_py",
                "tblock_pz",
                "tblock_qw",
                "tblock_qx",
                "tblock_qy",
                "tblock_qz"
            ]
        },
        "observation.environment.block_xy": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "block_x",
                "block_y"
            ]
        },
        "observation.right_arm.joint": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.right.joint": {
            "dtype": "float32",
            "shape": [
                8
            ]
        },
        "observation.left_arm.joint": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.qvel": {
            "dtype": "float32",
            "shape": [
                30
            ],
            "names": [
                "l_robot/joint1",
                "l_robot/joint2",
                "l_robot/joint3",
                "l_robot/joint4",
                "l_robot/joint5",
                "l_robot/joint6",
                "l_robot/joint7",
                "l_robot/right_driver_joint",
                "l_robot/right_coupler_joint",
                "l_robot/right_spring_link_joint",
                "l_robot/right_follower_joint",
                "l_robot/left_driver_joint",
                "l_robot/left_coupler_joint",
                "l_robot/left_spring_link_joint",
                "l_robot/left_follower_joint",
                "r_robot/joint1",
                "r_robot/joint2",
                "r_robot/joint3",
                "r_robot/joint4",
                "r_robot/joint5",
                "r_robot/joint6",
                "r_robot/joint7",
                "r_robot/right_driver_joint",
                "r_robot/right_coupler_joint",
                "r_robot/right_spring_link_joint",
                "r_robot/right_follower_joint",
                "r_robot/left_driver_joint",
                "r_robot/left_coupler_joint",
                "r_robot/left_spring_link_joint",
                "r_robot/left_follower_joint"
            ]
        },
        "observation.env_qvel": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "tblock_vx",
                "tblock_vy",
                "tblock_vz",
                "tblock_wx",
                "tblock_wy",
                "tblock_wz"
            ]
        },
        "observation.ee_pose": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "l_robot/hand_x",
                "l_robot/hand_y",
                "l_robot/hand_z",
                "l_robot/hand_qw",
                "l_robot/hand_qx",
                "l_robot/hand_qy",
                "l_robot/hand_qz",
                "l_robot/gripper",
                "r_robot/hand_x",
                "r_robot/hand_y",
                "r_robot/hand_z",
                "r_robot/hand_qw",
                "r_robot/hand_qx",
                "r_robot/hand_qy",
                "r_robot/hand_qz",
                "r_robot/gripper"
            ]
        },
        "action.ctrl": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "l_robot/actuator1",
                "l_robot/actuator2",
                "l_robot/actuator3",
                "l_robot/actuator4",
                "l_robot/actuator5",
                "l_robot/actuator6",
                "l_robot/actuator7",
                "l_robot/fingers_actuator",
                "r_robot/actuator1",
                "r_robot/actuator2",
                "r_robot/actuator3",
                "r_robot/actuator4",
                "r_robot/actuator5",
                "r_robot/actuator6",
                "r_robot/actuator7",
                "r_robot/fingers_actuator"
            ]
        },
        "action.joint": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "l_robot/actuator1",
                "l_robot/actuator2",
                "l_robot/actuator3",
                "l_robot/actuator4",
                "l_robot/actuator5",
                "l_robot/actuator6",
                "l_robot/actuator7",
                "l_robot/fingers_actuator",
                "r_robot/actuator1",
                "r_robot/actuator2",
                "r_robot/actuator3",
                "r_robot/actuator4",
                "r_robot/actuator5",
                "r_robot/actuator6",
                "r_robot/actuator7",
                "r_robot/fingers_actuator"
            ]
        },
        "action.ee_pose": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "l_robot/hand_x",
                "l_robot/hand_y",
                "l_robot/hand_z",
                "l_robot/hand_qw",
                "l_robot/hand_qx",
                "l_robot/hand_qy",
                "l_robot/hand_qz",
                "l_robot/gripper",
                "r_robot/hand_x",
                "r_robot/hand_y",
                "r_robot/hand_z",
                "r_robot/hand_qw",
                "r_robot/hand_qx",
                "r_robot/hand_qy",
                "r_robot/hand_qz",
                "r_robot/gripper"
            ]
        },
        "action.right_arm.joint": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "action.right.joint": {
            "dtype": "float32",
            "shape": [
                8
            ]
        },
        "action.left_arm.joint": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "action.right_arm.joint.relative": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "action.left_arm.joint.relative": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "action.joint.relative": {
            "dtype": "float32",
            "shape": [
                16
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.environment.tblock.center.x": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "x"
            ]
        },
        "observation.environment.tblock.center.y": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "y"
            ]
        },
        "observation.environment.tblock.center.z": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "z"
            ]
        },
        "observation.environment.tblock.center.xy": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "xy"
            ]
        },
        "observation.environment.tblock.center.xyz": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "xyz"
            ]
        },
        "observation.environment.tblock.center.quat": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "quat"
            ]
        },
        "observation.environment.tblock.center.euler": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "euler"
            ]
        },
        "observation.environment.tblock.center.posquat": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "posquat"
            ]
        },
        "observation.environment.tblock.center.xaxis": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "xaxis"
            ]
        },
        "observation.environment.tblock.center.yaxis": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "yaxis"
            ]
        },
        "observation.environment.tblock.center.zaxis": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "zaxis"
            ]
        },
        "observation.environment.tblock.center.mat": {
            "dtype": "float32",
            "shape": [
                3,
                3
            ],
            "names": [
                "mat"
            ]
        },
        "observation.environment.tblock.center.full_mat": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "full_mat"
            ]
        },
        "observation.environment.tblock.center.reduced_mat": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "reduced_mat"
            ]
        }
    }
}