| { |
| "schema": "franka-ft-oxt-final-array-schema-v1", |
| "scope": "Actual final task-wide data arrays read from each Zarr v2 .zarray file; shapes include all episodes in that task.", |
| "source": "zarr/<task>.zarr/data/<key>/.zarray", |
| "native_field_naming": "native__ + original HDF5 path with each '/' replaced by '__'; values retain selected source rows and native numeric dtypes.", |
| "episode_boundaries": "zarr/<task>.zarr/meta/episode_ends", |
| "per_episode_mapping": "metadata/episodes/<task>/<episode>.json, mapping member", |
| "tasks": { |
| "wipe_board": { |
| "zarr_path": "zarr/wipe_board.zarr", |
| "row_count": 14941, |
| "array_count": 130, |
| "arrays": { |
| "action_eef_pose": { |
| "shape": [ |
| 14941, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Recorded requested pre-IK native EEF target, xyz metres + rotation-vector radians." |
| }, |
| "action_eef_pose_with_ft_offset": { |
| "shape": [ |
| 14941, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Recorded action EEF point shifted along local +Z by 63mm; not a full TCP transform." |
| }, |
| "action_joint_position": { |
| "shape": [ |
| 14941, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Actual recorded seven-joint targets, radians; not derived from future state." |
| }, |
| "camera_frame_index__16478870": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Exact original decoded SVO frame index for the selected control row.", |
| "camera_serial": "16478870" |
| }, |
| "camera_frame_index__36087771": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Exact original decoded SVO frame index for the selected control row.", |
| "camera_serial": "36087771" |
| }, |
| "camera_main_intrinsics": { |
| "shape": [ |
| 14941, |
| 3, |
| 3 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 3, |
| 3 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "3x3 intrinsic K from SDK rectified LEFT calibration at the exported 640x360 resolution; repeated per selected row, distinct from original HDF5 K.", |
| "camera_serial": "36087771" |
| }, |
| "camera_main_rgb": { |
| "shape": [ |
| 14941, |
| 360, |
| 640, |
| 3 |
| ], |
| "dtype": "|u1", |
| "chunks": [ |
| 1, |
| 360, |
| 640, |
| 3 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 0, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "SDK LEFT rectified RGB uint8 images at 640x360; PNG then Blosc preserves decoded resized pixels.", |
| "camera_serial": "36087771" |
| }, |
| "camera_timestamp_unix_ns__16478870": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Original SDK IMAGE Unix nanoseconds; floor-to-ms exactly matches recorded HDF5 frame_received.", |
| "camera_serial": "16478870" |
| }, |
| "camera_timestamp_unix_ns__36087771": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Original SDK IMAGE Unix nanoseconds; floor-to-ms exactly matches recorded HDF5 frame_received.", |
| "camera_serial": "36087771" |
| }, |
| "command_dispatched": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Whether env.step was called; false means hypothetical hold, true does not prove acceptance." |
| }, |
| "ft_wrench": { |
| "shape": [ |
| 14941, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Unmodified native sensor-frame Fx,Fy,Fz,Mx,My,Mz; assumed N,N,N,Nm,Nm,Nm." |
| }, |
| "native__action__cartesian_position": { |
| "shape": [ |
| 14941, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/cartesian_position", |
| "description": "Selected rows copied from trajectory.h5/action/cartesian_position; no value transformation." |
| }, |
| "native__action__cartesian_position_with_ft_offset": { |
| "shape": [ |
| 14941, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/cartesian_position_with_ft_offset", |
| "description": "Selected rows copied from trajectory.h5/action/cartesian_position_with_ft_offset; no value transformation." |
| }, |
| "native__action__cartesian_velocity": { |
| "shape": [ |
| 14941, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/cartesian_velocity", |
| "description": "Selected rows copied from trajectory.h5/action/cartesian_velocity; no value transformation." |
| }, |
| "native__action__command_dispatched": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/command_dispatched", |
| "description": "Selected rows copied from trajectory.h5/action/command_dispatched; no value transformation." |
| }, |
| "native__action__controller_metadata_json": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "<U200", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": "", |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/controller_metadata_json", |
| "description": "Selected rows copied from trajectory.h5/action/controller_metadata_json; no value transformation." |
| }, |
| "native__action__controller_target_valid": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/controller_target_valid", |
| "description": "Selected rows copied from trajectory.h5/action/controller_target_valid; no value transformation." |
| }, |
| "native__action__gripper_position": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/gripper_position", |
| "description": "Selected rows copied from trajectory.h5/action/gripper_position; no value transformation." |
| }, |
| "native__action__gripper_velocity": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/gripper_velocity", |
| "description": "Selected rows copied from trajectory.h5/action/gripper_velocity; no value transformation." |
| }, |
| "native__action__input_action": { |
| "shape": [ |
| 14941, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/input_action", |
| "description": "Selected rows copied from trajectory.h5/action/input_action; no value transformation." |
| }, |
| "native__action__joint_position": { |
| "shape": [ |
| 14941, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/joint_position", |
| "description": "Selected rows copied from trajectory.h5/action/joint_position; no value transformation." |
| }, |
| "native__action__joint_velocity": { |
| "shape": [ |
| 14941, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/joint_velocity", |
| "description": "Selected rows copied from trajectory.h5/action/joint_velocity; no value transformation." |
| }, |
| "native__action__robot_state__cartesian_position": { |
| "shape": [ |
| 14941, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/cartesian_position", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/cartesian_position; no value transformation." |
| }, |
| "native__action__robot_state__gripper_position": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/gripper_position", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/gripper_position; no value transformation." |
| }, |
| "native__action__robot_state__joint_positions": { |
| "shape": [ |
| 14941, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/joint_positions", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_positions; no value transformation." |
| }, |
| "native__action__robot_state__joint_torques_computed": { |
| "shape": [ |
| 14941, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/joint_torques_computed", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_torques_computed; no value transformation." |
| }, |
| "native__action__robot_state__joint_velocities": { |
| "shape": [ |
| 14941, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/joint_velocities", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_velocities; no value transformation." |
| }, |
| "native__action__robot_state__motor_torques_measured": { |
| "shape": [ |
| 14941, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/motor_torques_measured", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/motor_torques_measured; no value transformation." |
| }, |
| "native__action__robot_state__prev_command_successful": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_command_successful", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_command_successful; no value transformation." |
| }, |
| "native__action__robot_state__prev_controller_latency_ms": { |
| "shape": [ |
| 14941 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_controller_latency_ms", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_controller_latency_ms; no value transformation." |
| }, |
| "native__action__robot_state__prev_joint_torques_computed": { |
| "shape": [ |
| 14941, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_joint_torques_computed", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed; no value transformation." |
| }, |
| "native__action__robot_state__prev_joint_torques_computed_safened": { |
| "shape": [ |
| 14941, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_joint_torques_computed_safened", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed_safened; no value transformation." |
| }, |
| "native__action__target_cartesian_position": { |
| "shape": [ |
| 14941, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/target_cartesian_position", |
| "description": "Selected rows copied from trajectory.h5/action/target_cartesian_position; no value transformation." |
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| "native__action__target_gripper_position": { |
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| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Recorded action EEF point shifted along local +Z by 63mm; not a full TCP transform." |
| }, |
| "action_joint_position": { |
| "shape": [ |
| 4817, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Actual recorded seven-joint targets, radians; not derived from future state." |
| }, |
| "camera_frame_index__16478870": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Exact original decoded SVO frame index for the selected control row.", |
| "camera_serial": "16478870" |
| }, |
| "camera_frame_index__36087771": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Exact original decoded SVO frame index for the selected control row.", |
| "camera_serial": "36087771" |
| }, |
| "camera_main_intrinsics": { |
| "shape": [ |
| 4817, |
| 3, |
| 3 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 3, |
| 3 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "3x3 intrinsic K from SDK rectified LEFT calibration at the exported 640x360 resolution; repeated per selected row, distinct from original HDF5 K.", |
| "camera_serial": "36087771" |
| }, |
| "camera_main_rgb": { |
| "shape": [ |
| 4817, |
| 360, |
| 640, |
| 3 |
| ], |
| "dtype": "|u1", |
| "chunks": [ |
| 1, |
| 360, |
| 640, |
| 3 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 0, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "SDK LEFT rectified RGB uint8 images at 640x360; PNG then Blosc preserves decoded resized pixels.", |
| "camera_serial": "36087771" |
| }, |
| "camera_timestamp_unix_ns__16478870": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Original SDK IMAGE Unix nanoseconds; floor-to-ms exactly matches recorded HDF5 frame_received.", |
| "camera_serial": "16478870" |
| }, |
| "camera_timestamp_unix_ns__36087771": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Original SDK IMAGE Unix nanoseconds; floor-to-ms exactly matches recorded HDF5 frame_received.", |
| "camera_serial": "36087771" |
| }, |
| "command_dispatched": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Whether env.step was called; false means hypothetical hold, true does not prove acceptance." |
| }, |
| "ft_wrench": { |
| "shape": [ |
| 4817, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Unmodified native sensor-frame Fx,Fy,Fz,Mx,My,Mz; assumed N,N,N,Nm,Nm,Nm." |
| }, |
| "native__action__cartesian_position": { |
| "shape": [ |
| 4817, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/cartesian_position", |
| "description": "Selected rows copied from trajectory.h5/action/cartesian_position; no value transformation." |
| }, |
| "native__action__cartesian_position_with_ft_offset": { |
| "shape": [ |
| 4817, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/cartesian_position_with_ft_offset", |
| "description": "Selected rows copied from trajectory.h5/action/cartesian_position_with_ft_offset; no value transformation." |
| }, |
| "native__action__cartesian_velocity": { |
| "shape": [ |
| 4817, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/cartesian_velocity", |
| "description": "Selected rows copied from trajectory.h5/action/cartesian_velocity; no value transformation." |
| }, |
| "native__action__command_dispatched": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/command_dispatched", |
| "description": "Selected rows copied from trajectory.h5/action/command_dispatched; no value transformation." |
| }, |
| "native__action__controller_metadata_json": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "<U199", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": "", |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/controller_metadata_json", |
| "description": "Selected rows copied from trajectory.h5/action/controller_metadata_json; no value transformation." |
| }, |
| "native__action__controller_target_valid": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/controller_target_valid", |
| "description": "Selected rows copied from trajectory.h5/action/controller_target_valid; no value transformation." |
| }, |
| "native__action__gripper_position": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/gripper_position", |
| "description": "Selected rows copied from trajectory.h5/action/gripper_position; no value transformation." |
| }, |
| "native__action__gripper_velocity": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/gripper_velocity", |
| "description": "Selected rows copied from trajectory.h5/action/gripper_velocity; no value transformation." |
| }, |
| "native__action__input_action": { |
| "shape": [ |
| 4817, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/input_action", |
| "description": "Selected rows copied from trajectory.h5/action/input_action; no value transformation." |
| }, |
| "native__action__joint_position": { |
| "shape": [ |
| 4817, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/joint_position", |
| "description": "Selected rows copied from trajectory.h5/action/joint_position; no value transformation." |
| }, |
| "native__action__joint_velocity": { |
| "shape": [ |
| 4817, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/joint_velocity", |
| "description": "Selected rows copied from trajectory.h5/action/joint_velocity; no value transformation." |
| }, |
| "native__action__robot_state__cartesian_position": { |
| "shape": [ |
| 4817, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/cartesian_position", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/cartesian_position; no value transformation." |
| }, |
| "native__action__robot_state__gripper_position": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/gripper_position", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/gripper_position; no value transformation." |
| }, |
| "native__action__robot_state__joint_positions": { |
| "shape": [ |
| 4817, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/joint_positions", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_positions; no value transformation." |
| }, |
| "native__action__robot_state__joint_torques_computed": { |
| "shape": [ |
| 4817, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/joint_torques_computed", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_torques_computed; no value transformation." |
| }, |
| "native__action__robot_state__joint_velocities": { |
| "shape": [ |
| 4817, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/joint_velocities", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_velocities; no value transformation." |
| }, |
| "native__action__robot_state__motor_torques_measured": { |
| "shape": [ |
| 4817, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/motor_torques_measured", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/motor_torques_measured; no value transformation." |
| }, |
| "native__action__robot_state__prev_command_successful": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_command_successful", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_command_successful; no value transformation." |
| }, |
| "native__action__robot_state__prev_controller_latency_ms": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_controller_latency_ms", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_controller_latency_ms; no value transformation." |
| }, |
| "native__action__robot_state__prev_joint_torques_computed": { |
| "shape": [ |
| 4817, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_joint_torques_computed", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed; no value transformation." |
| }, |
| "native__action__robot_state__prev_joint_torques_computed_safened": { |
| "shape": [ |
| 4817, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_joint_torques_computed_safened", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed_safened; no value transformation." |
| }, |
| "native__action__target_cartesian_position": { |
| "shape": [ |
| 4817, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/target_cartesian_position", |
| "description": "Selected rows copied from trajectory.h5/action/target_cartesian_position; no value transformation." |
| }, |
| "native__action__target_gripper_position": { |
| "shape": [ |
| 4817 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/target_gripper_position", |
| "description": "Selected rows copied from trajectory.h5/action/target_gripper_position; no value transformation." |
| }, |
| "native__observation__camera_distortion_coefficients__16478870_left": { |
| "shape": [ |
| 4817, |
| 12 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 12 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/camera_distortion_coefficients/16478870_left", |
| "description": "Selected rows copied from trajectory.h5/observation/camera_distortion_coefficients/16478870_left; no value transformation." |
| }, |
| "native__observation__camera_distortion_coefficients__16478870_right": { |
| "shape": [ |
| 4817, |
| 12 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
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| 4817 |
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| 4817 |
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| 256 |
| ], |
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| 4817 |
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| 256 |
| ], |
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| 4817 |
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| 256 |
| ], |
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| "description": "Selected rows copied from trajectory.h5/observation/ft_sensor/sample_index; no value transformation." |
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| 256 |
| ], |
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| ], |
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| 4817 |
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| "source_h5_dataset": "observation/ft_sensor/valid", |
| "description": "Selected rows copied from trajectory.h5/observation/ft_sensor/valid; no value transformation." |
| }, |
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| 4817, |
| 6 |
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| 6 |
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| "dimension_separator": ".", |
| "source_h5_dataset": "observation/ft_sensor/wrench", |
| "description": "Selected rows copied from trajectory.h5/observation/ft_sensor/wrench; no value transformation." |
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| "native__observation__robot_state__cartesian_position": { |
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| 4817, |
| 6 |
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| 256, |
| 6 |
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| "source_h5_dataset": "observation/robot_state/cartesian_position", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/cartesian_position; no value transformation." |
| }, |
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| 6 |
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| 256, |
| 6 |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/cartesian_position_with_ft_offset", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/cartesian_position_with_ft_offset; no value transformation." |
| }, |
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| 4817 |
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| "dtype": "<f8", |
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| 256 |
| ], |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/gripper_position", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/gripper_position; no value transformation." |
| }, |
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| "shape": [ |
| 4817, |
| 7 |
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| 256, |
| 7 |
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| "id": "blosc", |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/joint_positions", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/joint_positions; no value transformation." |
| }, |
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| "shape": [ |
| 4817, |
| 7 |
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| "chunks": [ |
| 256, |
| 7 |
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| "id": "blosc", |
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| }, |
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| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/joint_torques_computed", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/joint_torques_computed; no value transformation." |
| }, |
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| 4817, |
| 7 |
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| 256, |
| 7 |
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| "id": "blosc", |
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| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/joint_velocities", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/joint_velocities; no value transformation." |
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| 4817, |
| 7 |
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| 256, |
| 7 |
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| "cname": "zstd", |
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| }, |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/motor_torques_measured", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/motor_torques_measured; no value transformation." |
| }, |
| "native__observation__robot_state__prev_command_successful": { |
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| "dtype": "|b1", |
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| 256 |
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| "id": "blosc", |
| "cname": "zstd", |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/prev_command_successful", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/prev_command_successful; no value transformation." |
| }, |
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| 256 |
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| "cname": "zstd", |
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| "order": "C", |
| "dimension_separator": ".", |
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| "description": "Selected rows copied from trajectory.h5/observation/robot_state/prev_controller_latency_ms; no value transformation." |
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| "shape": [ |
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| 7 |
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| 7 |
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| "order": "C", |
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| "source_h5_dataset": "observation/robot_state/prev_joint_torques_computed", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/prev_joint_torques_computed; no value transformation." |
| }, |
| "native__observation__robot_state__prev_joint_torques_computed_safened": { |
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| 7 |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/prev_joint_torques_computed_safened", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/prev_joint_torques_computed_safened; no value transformation." |
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| 256 |
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| "source_h5_dataset": "observation/timestamp/cameras/16478870_estimated_capture", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/16478870_estimated_capture; no value transformation." |
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| "source_h5_dataset": "observation/timestamp/cameras/16478870_frame_received", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/16478870_frame_received; no value transformation." |
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| "source_h5_dataset": "observation/timestamp/cameras/16478870_read_end", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/16478870_read_end; no value transformation." |
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| "native__observation__timestamp__cameras__16478870_read_start": { |
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| 256 |
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| "source_h5_dataset": "observation/timestamp/cameras/16478870_read_start", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/16478870_read_start; no value transformation." |
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| "native__observation__timestamp__cameras__36087771_estimated_capture": { |
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| 256 |
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| "source_h5_dataset": "observation/timestamp/cameras/36087771_estimated_capture", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/36087771_estimated_capture; no value transformation." |
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| "native__observation__timestamp__cameras__36087771_frame_received": { |
| "shape": [ |
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| 256 |
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| "source_h5_dataset": "observation/timestamp/cameras/36087771_frame_received", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/36087771_frame_received; no value transformation." |
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| "native__observation__timestamp__cameras__36087771_read_end": { |
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| "source_h5_dataset": "observation/timestamp/cameras/36087771_read_end", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/36087771_read_end; no value transformation." |
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| "native__observation__timestamp__cameras__36087771_read_start": { |
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| 256 |
| ], |
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| "source_h5_dataset": "observation/timestamp/cameras/36087771_read_start", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/36087771_read_start; no value transformation." |
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| "native__observation__timestamp__control__control_start": { |
| "shape": [ |
| 4817 |
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| "chunks": [ |
| 256 |
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| "source_h5_dataset": "observation/timestamp/control/control_start", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/control_start; no value transformation." |
| }, |
| "native__observation__timestamp__control__control_start_monotonic_ns": { |
| "shape": [ |
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| 256 |
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| "order": "C", |
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| "source_h5_dataset": "observation/timestamp/control/control_start_monotonic_ns", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/control_start_monotonic_ns; no value transformation." |
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| "native__observation__timestamp__control__policy_start": { |
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| 4817 |
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| "chunks": [ |
| 256 |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/control/policy_start", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/policy_start; no value transformation." |
| }, |
| "native__observation__timestamp__control__sleep_start": { |
| "shape": [ |
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| ], |
| "dtype": "<i8", |
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| 256 |
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| "id": "blosc", |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/control/sleep_start", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/sleep_start; no value transformation." |
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| "native__observation__timestamp__control__step_end": { |
| "shape": [ |
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| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
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| "compressor": { |
| "id": "blosc", |
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| "filters": null, |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/control/step_end", |
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| "dtype": "<i8", |
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| "description": "Selected rows copied from trajectory.h5/observation/timestamp/step_index; no value transformation." |
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| "shape": [ |
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| 7 |
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| "dtype": "<f8", |
| "chunks": [ |
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| 7 |
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| "fill_value": 0.0, |
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| "description": "Measured seven-joint state in radians, original robot order." |
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| 1 |
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| "fill_value": 0.0, |
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| "description": "Normalized gripper closure, 0=open and 1=closed; no physical-width conversion." |
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| 1 |
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| "dtype": "<i8", |
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| "dtype": "<i8", |
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| "description": "Constant wrist torque area identifier 15." |
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| 1, |
| 3 |
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| "description": "Only native sensor-frame Mx,My,Mz, shape (T,1,3); no inferred transform or compensation." |
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| "dtype": "<U10", |
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| "description": "Constant sensor identifier SRIM3813A1." |
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| "dtype": "<U5", |
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| "description": "Constant tactile representation type state." |
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| 3, |
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| 640, |
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| "description": "SDK LEFT rectified RGB uint8 images at 640x360; PNG then Blosc preserves decoded resized pixels.", |
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| "dtype": "<i8", |
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| 6 |
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| "dtype": "<f8", |
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| "description": "Concrete curated task instruction for the episode." |
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| 6 |
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| "dtype": "<f8", |
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| "description": "The same full six-axis wrench as ft_wrench; see supplementary_tactile_note.json." |
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| "dtype": "<i8", |
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| "dtype": "<f8", |
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| "dimension_separator": ".", |
| "description": "Seconds since the original episode's first host control step; subtraction precedes float conversion." |
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| "insert_pen": { |
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| "row_count": 11815, |
| "array_count": 130, |
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| 6 |
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| 256, |
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| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
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| "description": "Recorded requested pre-IK native EEF target, xyz metres + rotation-vector radians." |
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| "action_eef_pose_with_ft_offset": { |
| "shape": [ |
| 11815, |
| 6 |
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| "dtype": "<f8", |
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| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Recorded action EEF point shifted along local +Z by 63mm; not a full TCP transform." |
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| "action_joint_position": { |
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| 7 |
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| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
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| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Actual recorded seven-joint targets, radians; not derived from future state." |
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| "camera_frame_index__16478870": { |
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| "dtype": "<i8", |
| "chunks": [ |
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| "compressor": { |
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| "blocksize": 0 |
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| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Exact original decoded SVO frame index for the selected control row.", |
| "camera_serial": "16478870" |
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| "camera_frame_index__36087771": { |
| "shape": [ |
| 11815 |
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| "dtype": "<i8", |
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| 256 |
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| "id": "blosc", |
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| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Exact original decoded SVO frame index for the selected control row.", |
| "camera_serial": "36087771" |
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| "shape": [ |
| 11815, |
| 3, |
| 3 |
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| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 3, |
| 3 |
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| "id": "blosc", |
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| "blocksize": 0 |
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| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "3x3 intrinsic K from SDK rectified LEFT calibration at the exported 640x360 resolution; repeated per selected row, distinct from original HDF5 K.", |
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| "camera_main_rgb": { |
| "shape": [ |
| 11815, |
| 360, |
| 640, |
| 3 |
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| "dtype": "|u1", |
| "chunks": [ |
| 1, |
| 360, |
| 640, |
| 3 |
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| "id": "blosc", |
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| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "SDK LEFT rectified RGB uint8 images at 640x360; PNG then Blosc preserves decoded resized pixels.", |
| "camera_serial": "36087771" |
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| "shape": [ |
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| "dtype": "<i8", |
| "chunks": [ |
| 256 |
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| "compressor": { |
| "id": "blosc", |
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| "clevel": 3, |
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| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Original SDK IMAGE Unix nanoseconds; floor-to-ms exactly matches recorded HDF5 frame_received.", |
| "camera_serial": "16478870" |
| }, |
| "camera_timestamp_unix_ns__36087771": { |
| "shape": [ |
| 11815 |
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| "dtype": "<i8", |
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| 256 |
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| "compressor": { |
| "id": "blosc", |
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| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Original SDK IMAGE Unix nanoseconds; floor-to-ms exactly matches recorded HDF5 frame_received.", |
| "camera_serial": "36087771" |
| }, |
| "command_dispatched": { |
| "shape": [ |
| 11815 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
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| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
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| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Whether env.step was called; false means hypothetical hold, true does not prove acceptance." |
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| "ft_wrench": { |
| "shape": [ |
| 11815, |
| 6 |
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| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
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| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
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| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Unmodified native sensor-frame Fx,Fy,Fz,Mx,My,Mz; assumed N,N,N,Nm,Nm,Nm." |
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| "native__action__cartesian_position": { |
| "shape": [ |
| 11815, |
| 6 |
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| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
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| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
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| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/cartesian_position", |
| "description": "Selected rows copied from trajectory.h5/action/cartesian_position; no value transformation." |
| }, |
| "native__action__cartesian_position_with_ft_offset": { |
| "shape": [ |
| 11815, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
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| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
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| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/cartesian_position_with_ft_offset", |
| "description": "Selected rows copied from trajectory.h5/action/cartesian_position_with_ft_offset; no value transformation." |
| }, |
| "native__action__cartesian_velocity": { |
| "shape": [ |
| 11815, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
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| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
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| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/cartesian_velocity", |
| "description": "Selected rows copied from trajectory.h5/action/cartesian_velocity; no value transformation." |
| }, |
| "native__action__command_dispatched": { |
| "shape": [ |
| 11815 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/command_dispatched", |
| "description": "Selected rows copied from trajectory.h5/action/command_dispatched; no value transformation." |
| }, |
| "native__action__controller_metadata_json": { |
| "shape": [ |
| 11815 |
| ], |
| "dtype": "<U199", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": "", |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/controller_metadata_json", |
| "description": "Selected rows copied from trajectory.h5/action/controller_metadata_json; no value transformation." |
| }, |
| "native__action__controller_target_valid": { |
| "shape": [ |
| 11815 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/controller_target_valid", |
| "description": "Selected rows copied from trajectory.h5/action/controller_target_valid; no value transformation." |
| }, |
| "native__action__gripper_position": { |
| "shape": [ |
| 11815 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/gripper_position", |
| "description": "Selected rows copied from trajectory.h5/action/gripper_position; no value transformation." |
| }, |
| "native__action__gripper_velocity": { |
| "shape": [ |
| 11815 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/gripper_velocity", |
| "description": "Selected rows copied from trajectory.h5/action/gripper_velocity; no value transformation." |
| }, |
| "native__action__input_action": { |
| "shape": [ |
| 11815, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
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| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
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| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/input_action", |
| "description": "Selected rows copied from trajectory.h5/action/input_action; no value transformation." |
| }, |
| "native__action__joint_position": { |
| "shape": [ |
| 11815, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/joint_position", |
| "description": "Selected rows copied from trajectory.h5/action/joint_position; no value transformation." |
| }, |
| "native__action__joint_velocity": { |
| "shape": [ |
| 11815, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/joint_velocity", |
| "description": "Selected rows copied from trajectory.h5/action/joint_velocity; no value transformation." |
| }, |
| "native__action__robot_state__cartesian_position": { |
| "shape": [ |
| 11815, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/cartesian_position", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/cartesian_position; no value transformation." |
| }, |
| "native__action__robot_state__gripper_position": { |
| "shape": [ |
| 11815 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/gripper_position", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/gripper_position; no value transformation." |
| }, |
| "native__action__robot_state__joint_positions": { |
| "shape": [ |
| 11815, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/joint_positions", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_positions; no value transformation." |
| }, |
| "native__action__robot_state__joint_torques_computed": { |
| "shape": [ |
| 11815, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/joint_torques_computed", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_torques_computed; no value transformation." |
| }, |
| "native__action__robot_state__joint_velocities": { |
| "shape": [ |
| 11815, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/joint_velocities", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/joint_velocities; no value transformation." |
| }, |
| "native__action__robot_state__motor_torques_measured": { |
| "shape": [ |
| 11815, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/motor_torques_measured", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/motor_torques_measured; no value transformation." |
| }, |
| "native__action__robot_state__prev_command_successful": { |
| "shape": [ |
| 11815 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_command_successful", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_command_successful; no value transformation." |
| }, |
| "native__action__robot_state__prev_controller_latency_ms": { |
| "shape": [ |
| 11815 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_controller_latency_ms", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_controller_latency_ms; no value transformation." |
| }, |
| "native__action__robot_state__prev_joint_torques_computed": { |
| "shape": [ |
| 11815, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_joint_torques_computed", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed; no value transformation." |
| }, |
| "native__action__robot_state__prev_joint_torques_computed_safened": { |
| "shape": [ |
| 11815, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/robot_state/prev_joint_torques_computed_safened", |
| "description": "Selected rows copied from trajectory.h5/action/robot_state/prev_joint_torques_computed_safened; no value transformation." |
| }, |
| "native__action__target_cartesian_position": { |
| "shape": [ |
| 11815, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/target_cartesian_position", |
| "description": "Selected rows copied from trajectory.h5/action/target_cartesian_position; no value transformation." |
| }, |
| "native__action__target_gripper_position": { |
| "shape": [ |
| 11815 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "action/target_gripper_position", |
| "description": "Selected rows copied from trajectory.h5/action/target_gripper_position; no value transformation." |
| }, |
| "native__observation__camera_distortion_coefficients__16478870_left": { |
| "shape": [ |
| 11815, |
| 12 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 12 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/camera_distortion_coefficients/16478870_left", |
| "description": "Selected rows copied from trajectory.h5/observation/camera_distortion_coefficients/16478870_left; no value transformation." |
| }, |
| "native__observation__camera_distortion_coefficients__16478870_right": { |
| "shape": [ |
| 11815, |
| 12 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 12 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/camera_distortion_coefficients/16478870_right", |
| "description": "Selected rows copied from trajectory.h5/observation/camera_distortion_coefficients/16478870_right; no value transformation." |
| }, |
| "native__observation__camera_distortion_coefficients__36087771_left": { |
| "shape": [ |
| 11815, |
| 12 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 12 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/camera_distortion_coefficients/36087771_left", |
| "description": "Selected rows copied from trajectory.h5/observation/camera_distortion_coefficients/36087771_left; no value transformation." |
| }, |
| "native__observation__camera_distortion_coefficients__36087771_right": { |
| "shape": [ |
| 11815, |
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| 11815 |
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| 6 |
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| "description": "Selected rows copied from trajectory.h5/observation/ft_sensor/wrench; no value transformation." |
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| "description": "Selected rows copied from trajectory.h5/observation/robot_state/gripper_position; no value transformation." |
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| 7 |
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| 256, |
| 7 |
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| "description": "Selected rows copied from trajectory.h5/observation/robot_state/joint_positions; no value transformation." |
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| "shape": [ |
| 11815, |
| 7 |
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| 256, |
| 7 |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/joint_torques_computed", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/joint_torques_computed; no value transformation." |
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| 11815, |
| 7 |
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| 256, |
| 7 |
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| "source_h5_dataset": "observation/robot_state/joint_velocities", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/joint_velocities; no value transformation." |
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| 7 |
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| 7 |
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| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/motor_torques_measured", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/motor_torques_measured; no value transformation." |
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| "id": "blosc", |
| "cname": "zstd", |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/prev_command_successful", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/prev_command_successful; no value transformation." |
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| 256 |
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| "id": "blosc", |
| "cname": "zstd", |
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| "order": "C", |
| "dimension_separator": ".", |
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| "description": "Selected rows copied from trajectory.h5/observation/robot_state/prev_controller_latency_ms; no value transformation." |
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| "shape": [ |
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| 7 |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/robot_state/prev_joint_torques_computed", |
| "description": "Selected rows copied from trajectory.h5/observation/robot_state/prev_joint_torques_computed; no value transformation." |
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| 7 |
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| "order": "C", |
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| "description": "Selected rows copied from trajectory.h5/observation/robot_state/prev_joint_torques_computed_safened; no value transformation." |
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| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/16478870_estimated_capture; no value transformation." |
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| "source_h5_dataset": "observation/timestamp/cameras/16478870_read_start", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/16478870_read_start; no value transformation." |
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| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/36087771_estimated_capture; no value transformation." |
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| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/36087771_frame_received; no value transformation." |
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| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/36087771_read_end; no value transformation." |
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| "native__observation__timestamp__cameras__36087771_read_start": { |
| "shape": [ |
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| 256 |
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| "description": "Selected rows copied from trajectory.h5/observation/timestamp/cameras/36087771_read_start; no value transformation." |
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| "native__observation__timestamp__control__control_start": { |
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| 11815 |
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| 256 |
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| "source_h5_dataset": "observation/timestamp/control/control_start", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/control_start; no value transformation." |
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| "native__observation__timestamp__control__control_start_monotonic_ns": { |
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| 256 |
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| "source_h5_dataset": "observation/timestamp/control/control_start_monotonic_ns", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/control_start_monotonic_ns; no value transformation." |
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| "native__observation__timestamp__control__policy_start": { |
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| 11815 |
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| 256 |
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| "order": "C", |
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| "source_h5_dataset": "observation/timestamp/control/policy_start", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/policy_start; no value transformation." |
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| "native__observation__timestamp__control__sleep_start": { |
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| "dtype": "<i8", |
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| 256 |
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| "source_h5_dataset": "observation/timestamp/control/sleep_start", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/sleep_start; no value transformation." |
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| 256 |
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| "id": "blosc", |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/control/step_end", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/step_end; no value transformation." |
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| 256 |
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| "order": "C", |
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| "source_h5_dataset": "observation/timestamp/control/step_end_monotonic_ns", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/step_end_monotonic_ns; no value transformation." |
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| "native__observation__timestamp__control__step_end_unix_ns": { |
| "shape": [ |
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| "dtype": "<i8", |
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| 256 |
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| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/control/step_end_unix_ns", |
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| 1 |
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| 1 |
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| 6 |
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| "fill_value": 0.0, |
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| 7 |
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| "fill_value": 0.0, |
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| "dimension_separator": ".", |
| "description": "Actual recorded seven-joint targets, radians; not derived from future state." |
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| "dtype": "<i8", |
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| "description": "Exact original decoded SVO frame index for the selected control row.", |
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| "dtype": "<i8", |
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| "description": "Exact original decoded SVO frame index for the selected control row.", |
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| 7 |
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| 7 |
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| 7 |
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| 7 |
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| "chunks": [ |
| 256, |
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| 6 |
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| "fill_value": 0.0, |
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| "shape": [ |
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| 12 |
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| "shape": [ |
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| 12 |
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| "shape": [ |
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| "shape": [ |
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| 12 |
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| "chunks": [ |
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| "shape": [ |
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| 6 |
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| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/step_start_monotonic_ns; no value transformation." |
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| "native__observation__timestamp__control__step_start_unix_ns": { |
| "shape": [ |
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| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
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| "compressor": { |
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| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/control/step_start_unix_ns", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/control/step_start_unix_ns; no value transformation." |
| }, |
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| "shape": [ |
| 10622 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
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| "id": "blosc", |
| "cname": "zstd", |
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| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/robot_state/read_end", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/robot_state/read_end; no value transformation." |
| }, |
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| "shape": [ |
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| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
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| "id": "blosc", |
| "cname": "zstd", |
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| "blocksize": 0 |
| }, |
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| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/robot_state/read_end_monotonic_ns", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/robot_state/read_end_monotonic_ns; no value transformation." |
| }, |
| "native__observation__timestamp__robot_state__read_end_unix_ns": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/robot_state/read_end_unix_ns", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/robot_state/read_end_unix_ns; no value transformation." |
| }, |
| "native__observation__timestamp__robot_state__read_start": { |
| "shape": [ |
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| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/robot_state/read_start", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/robot_state/read_start; no value transformation." |
| }, |
| "native__observation__timestamp__robot_state__read_start_monotonic_ns": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/robot_state/read_start_monotonic_ns", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/robot_state/read_start_monotonic_ns; no value transformation." |
| }, |
| "native__observation__timestamp__robot_state__read_start_unix_ns": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/robot_state/read_start_unix_ns", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/robot_state/read_start_unix_ns; no value transformation." |
| }, |
| "native__observation__timestamp__robot_state__robot_timestamp_nanos": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/robot_state/robot_timestamp_nanos", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/robot_state/robot_timestamp_nanos; no value transformation." |
| }, |
| "native__observation__timestamp__robot_state__robot_timestamp_seconds": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/robot_state/robot_timestamp_seconds", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/robot_state/robot_timestamp_seconds; no value transformation." |
| }, |
| "native__observation__timestamp__skip_action": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "|b1", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": false, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/skip_action", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/skip_action; no value transformation." |
| }, |
| "native__observation__timestamp__step_index": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "source_h5_dataset": "observation/timestamp/step_index", |
| "description": "Selected rows copied from trajectory.h5/observation/timestamp/step_index; no value transformation." |
| }, |
| "right_arm_joints": { |
| "shape": [ |
| 10622, |
| 7 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 7 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Measured seven-joint state in radians, original robot order." |
| }, |
| "right_hand_joints": { |
| "shape": [ |
| 10622, |
| 1 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 1 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Normalized gripper closure, 0=open and 1=closed; no physical-width conversion." |
| }, |
| "right_hand_joints_idx": { |
| "shape": [ |
| 10622, |
| 1 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256, |
| 1 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Constant 28 identifying the single gripper closure channel." |
| }, |
| "right_tactile_area_wrist_torque": { |
| "shape": [ |
| 10622, |
| 1 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256, |
| 1 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Constant wrist torque area identifier 15." |
| }, |
| "right_tactile_data_wrist_torque": { |
| "shape": [ |
| 10622, |
| 1, |
| 3 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 1, |
| 3 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Only native sensor-frame Mx,My,Mz, shape (T,1,3); no inferred transform or compensation." |
| }, |
| "right_tactile_sensor_wrist_torque": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<U10", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": "", |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Constant sensor identifier SRIM3813A1." |
| }, |
| "right_tactile_type_wrist_torque": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<U5", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": "", |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Constant tactile representation type state." |
| }, |
| "right_wrist_camera_intrinsics": { |
| "shape": [ |
| 10622, |
| 3, |
| 3 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 3, |
| 3 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "3x3 intrinsic K from SDK rectified LEFT calibration at the exported 640x360 resolution; repeated per selected row, distinct from original HDF5 K.", |
| "camera_serial": "16478870" |
| }, |
| "right_wrist_camera_rgb": { |
| "shape": [ |
| 10622, |
| 360, |
| 640, |
| 3 |
| ], |
| "dtype": "|u1", |
| "chunks": [ |
| 1, |
| 360, |
| 640, |
| 3 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 0, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "SDK LEFT rectified RGB uint8 images at 640x360; PNG then Blosc preserves decoded resized pixels.", |
| "camera_serial": "16478870" |
| }, |
| "right_wrist_pose": { |
| "shape": [ |
| 10622, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Native robot-model EEF/flange xyz metres + rotation-vector radians; canonical wrist alignment unverified." |
| }, |
| "source_control_row": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Original trajectory row for each retained standard row." |
| }, |
| "state_eef_pose_with_ft_offset": { |
| "shape": [ |
| 10622, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Recorded state EEF point shifted along local +Z by 63mm; not a full TCP transform." |
| }, |
| "sub_task_instruction": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<U14", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": "", |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Concrete curated task instruction for the episode." |
| }, |
| "supplementary_tactile": { |
| "shape": [ |
| 10622, |
| 6 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256, |
| 6 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "The same full six-axis wrench as ft_wrench; see supplementary_tactile_note.json." |
| }, |
| "timestamp_unix_ns": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<i8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Exact selected host control step_start_unix_ns, int64." |
| }, |
| "timestamps": { |
| "shape": [ |
| 10622 |
| ], |
| "dtype": "<f8", |
| "chunks": [ |
| 256 |
| ], |
| "compressor": { |
| "id": "blosc", |
| "cname": "zstd", |
| "clevel": 3, |
| "shuffle": 1, |
| "blocksize": 0 |
| }, |
| "filters": null, |
| "fill_value": 0.0, |
| "order": "C", |
| "dimension_separator": ".", |
| "description": "Seconds since the original episode's first host control step; subtraction precedes float conversion." |
| } |
| } |
| } |
| } |
| } |
|
|
