| { |
| "schema": "droid-native-to-oxt-arrays-v1", |
| "source_h5": "/mnt/ssd1/data/tianqi/ft/franka_ft_oxt/native/wipe_board/Mon_Oct_12_19-18-09_2026/trajectory.h5", |
| "original_control_rows": 469, |
| "selected_control_rows": [ |
| 0, |
| 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 |
| ], |
| "timestamp_origin_unix_ns": 1791832690326039198, |
| "timestamp_semantics": "Host control step_start Unix nanoseconds; relative seconds subtract original episode first row before float conversion. No clock correction or resampling.", |
| "pose_semantics": { |
| "representation": "xyz metres + rotation vector radians (scipy Euler xyz conversion)", |
| "right_wrist_pose_status": "omitted: native EEF/flange has no verified transform to the FTP-1 gripper frame (relative to wrist camera: z forward, x down, y left)", |
| "native_state_pose": "native__observation__robot_state__cartesian_position retains original xyz metres + Euler xyz radians at the robot-model EEF/flange; local FR3 configuration names panda_link8", |
| "canonical_wrist_transform_status": "not established; right_wrist_pose is omitted and right_arm_joints is provided", |
| "action_eef_pose": "original requested EEF target before IK; distinct from future observed state and not FK of the joint target", |
| "offset_fields": "already recorded original EEF local +Z 0.063 m point; orientation unchanged; not full Robotiq TCP" |
| }, |
| "action_semantics": "Real original DROID joint and EEF targets are retained. command_dispatched=false indicates a hypothetical hold, not a sent command; true does not prove asynchronous acceptance.", |
| "hand_semantics": "Single normalized gripper opening = 1 - native observation/robot_state/gripper_position closure, 0=closed and 1=open, joint index 28 (gripper distance); dimensionless, not metres. Native closure and action fields remain unchanged.", |
| "ft_semantics": { |
| "sensor": "SRIM3813A1", |
| "channels": [ |
| "Fx", |
| "Fy", |
| "Fz", |
| "Mx", |
| "My", |
| "Mz" |
| ], |
| "units": [ |
| "N", |
| "N", |
| "N", |
| "Nm", |
| "Nm", |
| "Nm" |
| ], |
| "units_source": "assumed from device stored calibration", |
| "frame": "sensor native measurement frame; sensor-to-EEF transform unavailable", |
| "standard_tactile_group": "Only recorded Mx, My, Mz in wrist_torque; area 15. No inferred force magnitude or force-axis reduction.", |
| "software_bias_subtraction": false, |
| "software_gravity_compensation": false, |
| "alignment": "Original latest-persisted per-control snapshot, selected without interpolation; native sample_index identifies full sidecar row.", |
| "high_rate_sidecar": "Must also preserve original ft_sensor.h5 independently; these row-aligned arrays do not contain all high-rate samples." |
| }, |
| "supplementary_tactile_note": { |
| "SRIM3813A1_native_wrench": { |
| "type": "state", |
| "shape": [ |
| 6 |
| ], |
| "sensor_num": 1, |
| "sensor_dimension": 6, |
| "array_key": "supplementary_tactile", |
| "sensor_description": "One device-calibrated six-axis native sensor-frame wrench, flattened as Fx,Fy,Fz,Mx,My,Mz in N,N,N,Nm,Nm,Nm; no software compensation or coordinate transform.", |
| "sensor_idx_description": { |
| "sensor_idx_0": "All six columns belong to the same SRI M3813A1 wrist-mounted sensor." |
| } |
| } |
| }, |
| "native_fields": { |
| "native__action__cartesian_position": { |
| "source_path": "action/cartesian_position", |
| "source_dtype": "float64" |
| }, |
| "native__action__cartesian_position_with_ft_offset": { |
| "source_path": "action/cartesian_position_with_ft_offset", |
| "source_dtype": "float64" |
| }, |
| "native__action__cartesian_velocity": { |
| "source_path": "action/cartesian_velocity", |
| "source_dtype": "float64" |
| }, |
| "native__action__command_dispatched": { |
| "source_path": "action/command_dispatched", |
| "source_dtype": "bool" |
| }, |
| "native__action__controller_metadata_json": { |
| "source_path": "action/controller_metadata_json", |
| "source_dtype": "object" |
| }, |
| "native__action__controller_target_valid": { |
| "source_path": "action/controller_target_valid", |
| "source_dtype": "bool" |
| }, |
| "native__action__gripper_position": { |
| "source_path": "action/gripper_position", |
| "source_dtype": "float64" |
| }, |
| "native__action__gripper_velocity": { |
| "source_path": "action/gripper_velocity", |
| "source_dtype": "float64" |
| }, |
| "native__action__input_action": { |
| "source_path": "action/input_action", |
| "source_dtype": "float64" |
| }, |
| "native__action__joint_position": { |
| "source_path": "action/joint_position", |
| "source_dtype": "float64" |
| }, |
| "native__action__joint_velocity": { |
| "source_path": "action/joint_velocity", |
| "source_dtype": "float64" |
| }, |
| "native__action__robot_state__cartesian_position": { |
| "source_path": "action/robot_state/cartesian_position", |
| "source_dtype": "float64" |
| }, |
| "native__action__robot_state__gripper_position": { |
| "source_path": "action/robot_state/gripper_position", |
| "source_dtype": "float64" |
| }, |
| "native__action__robot_state__joint_positions": { |
| "source_path": "action/robot_state/joint_positions", |
| "source_dtype": "float64" |
| }, |
| "native__action__robot_state__joint_torques_computed": { |
| "source_path": "action/robot_state/joint_torques_computed", |
| "source_dtype": "float64" |
| }, |
| "native__action__robot_state__joint_velocities": { |
| "source_path": "action/robot_state/joint_velocities", |
| "source_dtype": "float64" |
| }, |
| "native__action__robot_state__motor_torques_measured": { |
| "source_path": "action/robot_state/motor_torques_measured", |
| "source_dtype": "float64" |
| }, |
| "native__action__robot_state__prev_command_successful": { |
| "source_path": "action/robot_state/prev_command_successful", |
| "source_dtype": "bool" |
| }, |
| "native__action__robot_state__prev_controller_latency_ms": { |
| "source_path": "action/robot_state/prev_controller_latency_ms", |
| "source_dtype": "float64" |
| }, |
| "native__action__robot_state__prev_joint_torques_computed": { |
| "source_path": "action/robot_state/prev_joint_torques_computed", |
| "source_dtype": "float64" |
| }, |
| "native__action__robot_state__prev_joint_torques_computed_safened": { |
| "source_path": "action/robot_state/prev_joint_torques_computed_safened", |
| "source_dtype": "float64" |
| }, |
| "native__action__target_cartesian_position": { |
| "source_path": "action/target_cartesian_position", |
| "source_dtype": "float64" |
| }, |
| "native__action__target_gripper_position": { |
| "source_path": "action/target_gripper_position", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_distortion_coefficients__16478870_left": { |
| "source_path": "observation/camera_distortion_coefficients/16478870_left", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_distortion_coefficients__16478870_right": { |
| "source_path": "observation/camera_distortion_coefficients/16478870_right", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_distortion_coefficients__36087771_left": { |
| "source_path": "observation/camera_distortion_coefficients/36087771_left", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_distortion_coefficients__36087771_right": { |
| "source_path": "observation/camera_distortion_coefficients/36087771_right", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__16478870_left": { |
| "source_path": "observation/camera_extrinsics/16478870_left", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__16478870_left_gripper_offset": { |
| "source_path": "observation/camera_extrinsics/16478870_left_gripper_offset", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__16478870_right": { |
| "source_path": "observation/camera_extrinsics/16478870_right", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__16478870_right_gripper_offset": { |
| "source_path": "observation/camera_extrinsics/16478870_right_gripper_offset", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__19824535_left": { |
| "source_path": "observation/camera_extrinsics/19824535_left", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__19824535_right": { |
| "source_path": "observation/camera_extrinsics/19824535_right", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__23404442_left": { |
| "source_path": "observation/camera_extrinsics/23404442_left", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__23404442_right": { |
| "source_path": "observation/camera_extrinsics/23404442_right", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__26405488_left": { |
| "source_path": "observation/camera_extrinsics/26405488_left", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__26405488_right": { |
| "source_path": "observation/camera_extrinsics/26405488_right", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__29838012_left": { |
| "source_path": "observation/camera_extrinsics/29838012_left", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__29838012_right": { |
| "source_path": "observation/camera_extrinsics/29838012_right", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__36087771_left": { |
| "source_path": "observation/camera_extrinsics/36087771_left", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__36087771_right": { |
| "source_path": "observation/camera_extrinsics/36087771_right", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_intrinsics__16478870_left": { |
| "source_path": "observation/camera_intrinsics/16478870_left", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_intrinsics__16478870_right": { |
| "source_path": "observation/camera_intrinsics/16478870_right", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_intrinsics__36087771_left": { |
| "source_path": "observation/camera_intrinsics/36087771_left", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_intrinsics__36087771_right": { |
| "source_path": "observation/camera_intrinsics/36087771_right", |
| "source_dtype": "float64" |
| }, |
| "native__observation__camera_type__16478870": { |
| "source_path": "observation/camera_type/16478870", |
| "source_dtype": "int64" |
| }, |
| "native__observation__camera_type__36087771": { |
| "source_path": "observation/camera_type/36087771", |
| "source_dtype": "int64" |
| }, |
| "native__observation__controller_info__controller_on": { |
| "source_path": "observation/controller_info/controller_on", |
| "source_dtype": "bool" |
| }, |
| "native__observation__controller_info__failure": { |
| "source_path": "observation/controller_info/failure", |
| "source_dtype": "bool" |
| }, |
| "native__observation__controller_info__movement_enabled": { |
| "source_path": "observation/controller_info/movement_enabled", |
| "source_dtype": "bool" |
| }, |
| "native__observation__controller_info__success": { |
| "source_path": "observation/controller_info/success", |
| "source_dtype": "bool" |
| }, |
| "native__observation__ft_sensor__age_s": { |
| "source_path": "observation/ft_sensor/age_s", |
| "source_dtype": "float64" |
| }, |
| "native__observation__ft_sensor__packet_delta": { |
| "source_path": "observation/ft_sensor/packet_delta", |
| "source_dtype": "int64" |
| }, |
| "native__observation__ft_sensor__packet_discontinuity": { |
| "source_path": "observation/ft_sensor/packet_discontinuity", |
| "source_dtype": "bool" |
| }, |
| "native__observation__ft_sensor__packet_no": { |
| "source_path": "observation/ft_sensor/packet_no", |
| "source_dtype": "int64" |
| }, |
| "native__observation__ft_sensor__receive_monotonic_ns": { |
| "source_path": "observation/ft_sensor/receive_monotonic_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__ft_sensor__receive_unix_ns": { |
| "source_path": "observation/ft_sensor/receive_unix_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__ft_sensor__request_monotonic_ns": { |
| "source_path": "observation/ft_sensor/request_monotonic_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__ft_sensor__request_unix_ns": { |
| "source_path": "observation/ft_sensor/request_unix_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__ft_sensor__sample_index": { |
| "source_path": "observation/ft_sensor/sample_index", |
| "source_dtype": "int64" |
| }, |
| "native__observation__ft_sensor__snapshot_monotonic_ns": { |
| "source_path": "observation/ft_sensor/snapshot_monotonic_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__ft_sensor__snapshot_unix_ns": { |
| "source_path": "observation/ft_sensor/snapshot_unix_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__ft_sensor__valid": { |
| "source_path": "observation/ft_sensor/valid", |
| "source_dtype": "bool" |
| }, |
| "native__observation__ft_sensor__wrench": { |
| "source_path": "observation/ft_sensor/wrench", |
| "source_dtype": "float64" |
| }, |
| "native__observation__robot_state__cartesian_position": { |
| "source_path": "observation/robot_state/cartesian_position", |
| "source_dtype": "float64" |
| }, |
| "native__observation__robot_state__cartesian_position_with_ft_offset": { |
| "source_path": "observation/robot_state/cartesian_position_with_ft_offset", |
| "source_dtype": "float64" |
| }, |
| "native__observation__robot_state__gripper_position": { |
| "source_path": "observation/robot_state/gripper_position", |
| "source_dtype": "float64" |
| }, |
| "native__observation__robot_state__joint_positions": { |
| "source_path": "observation/robot_state/joint_positions", |
| "source_dtype": "float64" |
| }, |
| "native__observation__robot_state__joint_torques_computed": { |
| "source_path": "observation/robot_state/joint_torques_computed", |
| "source_dtype": "float64" |
| }, |
| "native__observation__robot_state__joint_velocities": { |
| "source_path": "observation/robot_state/joint_velocities", |
| "source_dtype": "float64" |
| }, |
| "native__observation__robot_state__motor_torques_measured": { |
| "source_path": "observation/robot_state/motor_torques_measured", |
| "source_dtype": "float64" |
| }, |
| "native__observation__robot_state__prev_command_successful": { |
| "source_path": "observation/robot_state/prev_command_successful", |
| "source_dtype": "bool" |
| }, |
| "native__observation__robot_state__prev_controller_latency_ms": { |
| "source_path": "observation/robot_state/prev_controller_latency_ms", |
| "source_dtype": "float64" |
| }, |
| "native__observation__robot_state__prev_joint_torques_computed": { |
| "source_path": "observation/robot_state/prev_joint_torques_computed", |
| "source_dtype": "float64" |
| }, |
| "native__observation__robot_state__prev_joint_torques_computed_safened": { |
| "source_path": "observation/robot_state/prev_joint_torques_computed_safened", |
| "source_dtype": "float64" |
| }, |
| "native__observation__timestamp__cameras__16478870_estimated_capture": { |
| "source_path": "observation/timestamp/cameras/16478870_estimated_capture", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__16478870_frame_received": { |
| "source_path": "observation/timestamp/cameras/16478870_frame_received", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__16478870_read_end": { |
| "source_path": "observation/timestamp/cameras/16478870_read_end", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__16478870_read_start": { |
| "source_path": "observation/timestamp/cameras/16478870_read_start", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__36087771_estimated_capture": { |
| "source_path": "observation/timestamp/cameras/36087771_estimated_capture", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__36087771_frame_received": { |
| "source_path": "observation/timestamp/cameras/36087771_frame_received", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__36087771_read_end": { |
| "source_path": "observation/timestamp/cameras/36087771_read_end", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__36087771_read_start": { |
| "source_path": "observation/timestamp/cameras/36087771_read_start", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__control__control_start": { |
| "source_path": "observation/timestamp/control/control_start", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__control__control_start_monotonic_ns": { |
| "source_path": "observation/timestamp/control/control_start_monotonic_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__control__policy_start": { |
| "source_path": "observation/timestamp/control/policy_start", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__control__sleep_start": { |
| "source_path": "observation/timestamp/control/sleep_start", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_end": { |
| "source_path": "observation/timestamp/control/step_end", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_end_monotonic_ns": { |
| "source_path": "observation/timestamp/control/step_end_monotonic_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_end_unix_ns": { |
| "source_path": "observation/timestamp/control/step_end_unix_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_start": { |
| "source_path": "observation/timestamp/control/step_start", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_start_monotonic_ns": { |
| "source_path": "observation/timestamp/control/step_start_monotonic_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_start_unix_ns": { |
| "source_path": "observation/timestamp/control/step_start_unix_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_end": { |
| "source_path": "observation/timestamp/robot_state/read_end", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_end_monotonic_ns": { |
| "source_path": "observation/timestamp/robot_state/read_end_monotonic_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_end_unix_ns": { |
| "source_path": "observation/timestamp/robot_state/read_end_unix_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_start": { |
| "source_path": "observation/timestamp/robot_state/read_start", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_start_monotonic_ns": { |
| "source_path": "observation/timestamp/robot_state/read_start_monotonic_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_start_unix_ns": { |
| "source_path": "observation/timestamp/robot_state/read_start_unix_ns", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__robot_timestamp_nanos": { |
| "source_path": "observation/timestamp/robot_state/robot_timestamp_nanos", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__robot_timestamp_seconds": { |
| "source_path": "observation/timestamp/robot_state/robot_timestamp_seconds", |
| "source_dtype": "int64" |
| }, |
| "native__observation__timestamp__skip_action": { |
| "source_path": "observation/timestamp/skip_action", |
| "source_dtype": "bool" |
| }, |
| "native__observation__timestamp__step_index": { |
| "source_path": "observation/timestamp/step_index", |
| "source_dtype": "int64" |
| } |
| }, |
| "fields": { |
| "native__action__cartesian_position": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__cartesian_position_with_ft_offset": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__cartesian_velocity": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__command_dispatched": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__action__controller_metadata_json": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "<U198" |
| }, |
| "native__action__controller_target_valid": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__action__gripper_position": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__gripper_velocity": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__input_action": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__joint_position": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__joint_velocity": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__robot_state__cartesian_position": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__robot_state__gripper_position": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__robot_state__joint_positions": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__robot_state__joint_torques_computed": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__robot_state__joint_velocities": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__robot_state__motor_torques_measured": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__robot_state__prev_command_successful": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__action__robot_state__prev_controller_latency_ms": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__robot_state__prev_joint_torques_computed": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__robot_state__prev_joint_torques_computed_safened": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__target_cartesian_position": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__action__target_gripper_position": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_distortion_coefficients__16478870_left": { |
| "shape": [ |
| 468, |
| 12 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_distortion_coefficients__16478870_right": { |
| "shape": [ |
| 468, |
| 12 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_distortion_coefficients__36087771_left": { |
| "shape": [ |
| 468, |
| 12 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_distortion_coefficients__36087771_right": { |
| "shape": [ |
| 468, |
| 12 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__16478870_left": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__16478870_left_gripper_offset": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__16478870_right": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__16478870_right_gripper_offset": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__19824535_left": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__19824535_right": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__23404442_left": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__23404442_right": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__26405488_left": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__26405488_right": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__29838012_left": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__29838012_right": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__36087771_left": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_extrinsics__36087771_right": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_intrinsics__16478870_left": { |
| "shape": [ |
| 468, |
| 3, |
| 3 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_intrinsics__16478870_right": { |
| "shape": [ |
| 468, |
| 3, |
| 3 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_intrinsics__36087771_left": { |
| "shape": [ |
| 468, |
| 3, |
| 3 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_intrinsics__36087771_right": { |
| "shape": [ |
| 468, |
| 3, |
| 3 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__camera_type__16478870": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__camera_type__36087771": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__controller_info__controller_on": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__observation__controller_info__failure": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__observation__controller_info__movement_enabled": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__observation__controller_info__success": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__observation__ft_sensor__age_s": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__ft_sensor__packet_delta": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__ft_sensor__packet_discontinuity": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__observation__ft_sensor__packet_no": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__ft_sensor__receive_monotonic_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__ft_sensor__receive_unix_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__ft_sensor__request_monotonic_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__ft_sensor__request_unix_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__ft_sensor__sample_index": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__ft_sensor__snapshot_monotonic_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__ft_sensor__snapshot_unix_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__ft_sensor__valid": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__observation__ft_sensor__wrench": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__robot_state__cartesian_position": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__robot_state__cartesian_position_with_ft_offset": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__robot_state__gripper_position": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__robot_state__joint_positions": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__robot_state__joint_torques_computed": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__robot_state__joint_velocities": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__robot_state__motor_torques_measured": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__robot_state__prev_command_successful": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__observation__robot_state__prev_controller_latency_ms": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__robot_state__prev_joint_torques_computed": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__robot_state__prev_joint_torques_computed_safened": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "native__observation__timestamp__cameras__16478870_estimated_capture": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__16478870_frame_received": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__16478870_read_end": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__16478870_read_start": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__36087771_estimated_capture": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__36087771_frame_received": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__36087771_read_end": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__cameras__36087771_read_start": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__control__control_start": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__control__control_start_monotonic_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__control__policy_start": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__control__sleep_start": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_end": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_end_monotonic_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_end_unix_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_start": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_start_monotonic_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__control__step_start_unix_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_end": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_end_monotonic_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_end_unix_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_start": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_start_monotonic_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__read_start_unix_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__robot_timestamp_nanos": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__robot_state__robot_timestamp_seconds": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "native__observation__timestamp__skip_action": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "native__observation__timestamp__step_index": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "timestamps": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "float64" |
| }, |
| "timestamp_unix_ns": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "source_control_row": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "right_arm_joints": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "right_hand_joints": { |
| "shape": [ |
| 468, |
| 1 |
| ], |
| "dtype": "float64" |
| }, |
| "right_hand_joints_idx": { |
| "shape": [ |
| 468, |
| 1 |
| ], |
| "dtype": "int64" |
| }, |
| "sub_task_instruction": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "<U15" |
| }, |
| "action_joint_position": { |
| "shape": [ |
| 468, |
| 7 |
| ], |
| "dtype": "float64" |
| }, |
| "action_eef_pose": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "action_eef_pose_with_ft_offset": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "state_eef_pose_with_ft_offset": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "command_dispatched": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "bool" |
| }, |
| "ft_wrench": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "supplementary_tactile": { |
| "shape": [ |
| 468, |
| 6 |
| ], |
| "dtype": "float64" |
| }, |
| "right_tactile_data_wrist_torque": { |
| "shape": [ |
| 468, |
| 1, |
| 3 |
| ], |
| "dtype": "float64" |
| }, |
| "right_tactile_area_wrist_torque": { |
| "shape": [ |
| 468, |
| 1 |
| ], |
| "dtype": "int64" |
| }, |
| "right_tactile_sensor_wrist_torque": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "<U10" |
| }, |
| "right_tactile_type_wrist_torque": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "<U5" |
| }, |
| "camera_frame_index__16478870": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "camera_frame_index__36087771": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "camera_timestamp_unix_ns__16478870": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| }, |
| "camera_timestamp_unix_ns__36087771": { |
| "shape": [ |
| 468 |
| ], |
| "dtype": "int64" |
| } |
| }, |
| "scope": { |
| "kind": "first_episode_example", |
| "description": "This file captures the first exported episode's mapping. source_h5, selected_control_rows, timestamp origin and fields[*].shape are episode-specific examples, not task-wide array shapes.", |
| "example_episode_id": "ebd75a68-eea4-43bd-b479-600bdcd6b457", |
| "example_episode_metadata": "metadata/episodes/wipe_board/Mon_Oct_12_19-18-09_2026.json", |
| "exact_per_episode_mappings": "metadata/episodes/<task>/<episode>.json, mapping member", |
| "final_task_array_schema": "metadata/array_schema.json" |
| } |
| } |
|
|
