Datasets:

younghyopark
/

pick_tblock_mp_debug2

	{
	"codebase_version": "v2.1",
	"robot_type": "DualPanda",
	"total_episodes": 30,
	"total_frames": 7290,
	"total_tasks": 1,
	"total_videos": 0,
	"total_chunks": 1,
	"chunks_size": 1000,
	"fps": 50,
	"splits": {
	"train": "0:30"
	},
	"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
	]
	},
	"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
	}
	}
	}