File size: 20,646 Bytes
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"episodes": [
"ep000001",
"ep000003",
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"ep000005",
"ep000006",
"ep000008",
"ep000009",
"ep000010",
"ep000013",
"ep000018",
"ep000019",
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"ep000021",
"ep000025",
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"ep000035",
"ep000036",
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"ep000044",
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"features": {
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"field_descriptions": {
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"description": "左右手臂末端期望姿态（XYZ+臂形角），shape (2,4)",
"dimensions": 8,
"indices": [
8,
9,
10,
11,
12,
13,
14,
15
]
},
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"description": "左右手臂末端期望位置（m），shape (2,3)",
"dimensions": 6,
"indices": [
2,
3,
4,
5,
6,
7
]
},
"action/head/position": {
"description": "头部关节期望角度（弧度），[joint_head_yaw, joint_head_pitch]",
"dimensions": 3,
"indices": [
30,
31,
32
]
},
"action/joint/position": {
"description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧",
"dimensions": 14,
"indices": [
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29
]
},
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"dimensions": 1,
"indices": [
0
]
},
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"description": "左臂参考姿态",
"dimensions": 4,
"indices": [
44,
45,
46,
47
]
},
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"description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
"dimensions": 1,
"indices": [
1
]
},
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"description": "右臂参考姿态",
"dimensions": 4,
"indices": [
48,
49,
50,
51
]
},
"action/robot/velocity": {
"description": "底盘期望速度，odom 坐标系，[线速度, 角速度]，size of 2",
"dimensions": 6,
"indices": [
38,
39,
40,
41,
42,
43
]
},
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"description": "腰部关节期望角度（弧度），[joint_lift_body, joint_body_pitch]",
"dimensions": 5,
"indices": [
33,
34,
35,
36,
37
]
}
},
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52
]
},
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"field_descriptions": {
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"description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
"dimensions": 9,
"indices": [
136,
137,
138,
139,
140,
141,
142,
143,
144
]
},
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"description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐",
"dimensions": 3,
"indices": [
190,
191,
192
]
},
"extrinsic_end_T_hand_right_rgbd_aligned/rotation_matrix": {
"description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
"dimensions": 9,
"indices": [
145,
146,
147,
148,
149,
150,
151,
152,
153
]
},
"extrinsic_end_T_hand_right_rgbd_aligned/translation_vector": {
"description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参平移向量（m），逐帧对齐",
"dimensions": 3,
"indices": [
193,
194,
195
]
},
"extrinsic_end_T_head_back_fisheye_aligned/rotation_matrix": {
"description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
"dimensions": 9,
"indices": [
181,
182,
183,
184,
185,
186,
187,
188,
189
]
},
"extrinsic_end_T_head_back_fisheye_aligned/translation_vector": {
"description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
"dimensions": 3,
"indices": [
205,
206,
207
]
},
"extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": {
"description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
"dimensions": 9,
"indices": [
172,
173,
174,
175,
176,
177,
178,
179,
180
]
},
"extrinsic_end_T_head_front_rgbd_aligned/translation_vector": {
"description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐",
"dimensions": 3,
"indices": [
202,
203,
204
]
},
"extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": {
"description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
"dimensions": 9,
"indices": [
154,
155,
156,
157,
158,
159,
160,
161,
162
]
},
"extrinsic_end_T_head_left_fisheye_aligned/translation_vector": {
"description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
"dimensions": 3,
"indices": [
196,
197,
198
]
},
"extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": {
"description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
"dimensions": 9,
"indices": [
163,
164,
165,
166,
167,
168,
169,
170,
171
]
},
"extrinsic_end_T_head_right_fisheye_aligned/translation_vector": {
"description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
"dimensions": 3,
"indices": [
199,
200,
201
]
},
"state/end/arm_orientation": {
"description": "左右手臂末端在 arm_base_link 坐标系下的姿态（RPY 弧度或四元数）",
"dimensions": 8,
"indices": [
64,
65,
66,
67,
68,
69,
70,
71
]
},
"state/end/arm_position": {
"description": "左右手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
"dimensions": 6,
"indices": [
72,
73,
74,
75,
76,
77
]
},
"state/end/orientation": {
"description": "左右手臂末端姿态，四元数 XYZW，shape (2,4)",
"dimensions": 8,
"indices": [
56,
57,
58,
59,
60,
61,
62,
63
]
},
"state/end/position": {
"description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算",
"dimensions": 6,
"indices": [
26,
27,
28,
29,
30,
31
]
},
"state/end/velocity": {
"description": "左右手臂末端线速度（m/s），来自 MC frame_twists",
"dimensions": 24,
"indices": [
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55
]
},
"state/end/wrench": {
"description": "左右手臂末端六维力/力矩，fx/fy/fz/mx/my/mz，size of 12",
"dimensions": 24,
"indices": [
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25
]
},
"state/head/position": {
"description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2",
"dimensions": 3,
"indices": [
120,
121,
122
]
},
"state/joint/current_value": {
"description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
"dimensions": 0,
"indices": []
},
"state/joint/effort": {
"description": "左右臂关节力矩（Nm），来自 motor_states[:].effort",
"dimensions": 14,
"indices": [
92,
93,
94,
95,
96,
97,
98,
99,
100,
101,
102,
103,
104,
105
]
},
"state/joint/position": {
"description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
"dimensions": 14,
"indices": [
78,
79,
80,
81,
82,
83,
84,
85,
86,
87,
88,
89,
90,
91
]
},
"state/joint/velocity": {
"description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity",
"dimensions": 14,
"indices": [
106,
107,
108,
109,
110,
111,
112,
113,
114,
115,
116,
117,
118,
119
]
},
"state/left_ee_force/cols": {
"description": "左手触觉传感器矩阵列数",
"dimensions": 0,
"indices": []
},
"state/left_ee_force/contact": {
"description": "左手触觉传感器接触状态",
"dimensions": 0,
"indices": []
},
"state/left_ee_force/controlled": {
"description": "左手触觉传感器是否处于受控状态",
"dimensions": 0,
"indices": []
},
"state/left_ee_force/err_code": {
"description": "左手触觉传感器错误码",
"dimensions": 0,
"indices": []
},
"state/left_ee_force/normal_force": {
"description": "左手触觉传感器法向力（N）",
"dimensions": 0,
"indices": []
},
"state/left_ee_force/resolution_x": {
"description": "左手触觉传感器 X 方向分辨率",
"dimensions": 0,
"indices": []
},
"state/left_ee_force/resolution_y": {
"description": "左手触觉传感器 Y 方向分辨率",
"dimensions": 0,
"indices": []
},
"state/left_ee_force/rows": {
"description": "左手触觉传感器矩阵行数",
"dimensions": 0,
"indices": []
},
"state/left_ee_force/shear_force_x": {
"description": "左手触觉传感器 X 方向剪切力（N）",
"dimensions": 0,
"indices": []
},
"state/left_ee_force/shear_force_y": {
"description": "左手触觉传感器 Y 方向剪切力（N）",
"dimensions": 0,
"indices": []
},
"state/left_ee_force/valid": {
"description": "左手触觉传感器数据有效标志",
"dimensions": 0,
"indices": []
},
"state/left_effector/position": {
"description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
"dimensions": 1,
"indices": [
0
]
},
"state/left_vr_button/axis_click": {
"description": "左手 VR 手柄摇杆按下状态，size of 1",
"dimensions": 0,
"indices": []
},
"state/left_vr_button/axis_x": {
"description": "左手 VR 手柄摇杆 X 轴值，size of 1",
"dimensions": 0,
"indices": []
},
"state/left_vr_button/axis_y": {
"description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
"dimensions": 0,
"indices": []
},
"state/left_vr_button/hand_trig": {
"description": "左手 VR 手柄握持扳机值，size of 1",
"dimensions": 0,
"indices": []
},
"state/left_vr_button/index_trig": {
"description": "左手 VR 手柄食指扳机值，size of 1",
"dimensions": 0,
"indices": []
},
"state/left_vr_button/key_one": {
"description": "左手 VR 手柄按键一状态，size of 1",
"dimensions": 0,
"indices": []
},
"state/left_vr_button/key_two": {
"description": "左手 VR 手柄按键二状态，size of 1",
"dimensions": 0,
"indices": []
},
"state/operator_event/action_src_status": {
"description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
"dimensions": 1,
"indices": [
135
]
},
"state/right_ee_force/cols": {
"description": "右手触觉传感器矩阵列数",
"dimensions": 0,
"indices": []
},
"state/right_ee_force/contact": {
"description": "右手触觉传感器接触状态",
"dimensions": 0,
"indices": []
},
"state/right_ee_force/controlled": {
"description": "右手触觉传感器是否处于受控状态",
"dimensions": 0,
"indices": []
},
"state/right_ee_force/err_code": {
"description": "右手触觉传感器错误码",
"dimensions": 0,
"indices": []
},
"state/right_ee_force/normal_force": {
"description": "右手触觉传感器法向力（N）",
"dimensions": 0,
"indices": []
},
"state/right_ee_force/resolution_x": {
"description": "右手触觉传感器 X 方向分辨率",
"dimensions": 0,
"indices": []
},
"state/right_ee_force/resolution_y": {
"description": "右手触觉传感器 Y 方向分辨率",
"dimensions": 0,
"indices": []
},
"state/right_ee_force/rows": {
"description": "右手触觉传感器矩阵行数",
"dimensions": 0,
"indices": []
},
"state/right_ee_force/shear_force_x": {
"description": "右手触觉传感器 X 方向剪切力（N）",
"dimensions": 0,
"indices": []
},
"state/right_ee_force/shear_force_y": {
"description": "右手触觉传感器 Y 方向剪切力（N）",
"dimensions": 0,
"indices": []
},
"state/right_ee_force/valid": {
"description": "右手触觉传感器数据有效标志",
"dimensions": 0,
"indices": []
},
"state/right_effector/position": {
"description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
"dimensions": 1,
"indices": [
1
]
},
"state/right_vr_button/axis_click": {
"description": "右手 VR 手柄摇杆按下状态，size of 1",
"dimensions": 0,
"indices": []
},
"state/right_vr_button/axis_x": {
"description": "右手 VR 手柄摇杆 X 轴值，size of 1",
"dimensions": 0,
"indices": []
},
"state/right_vr_button/axis_y": {
"description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
"dimensions": 0,
"indices": []
},
"state/right_vr_button/hand_trig": {
"description": "右手 VR 手柄握持扳机值，size of 1",
"dimensions": 0,
"indices": []
},
"state/right_vr_button/index_trig": {
"description": "右手 VR 手柄食指扳机值，size of 1",
"dimensions": 0,
"indices": []
},
"state/right_vr_button/key_one": {
"description": "右手 VR 手柄按键一状态，size of 1",
"dimensions": 0,
"indices": []
},
"state/right_vr_button/key_two": {
"description": "右手 VR 手柄按键二状态，size of 1",
"dimensions": 0,
"indices": []
},
"state/robot/orientation": {
"description": "机体姿态，odom 坐标系，四元数，size of 4",
"dimensions": 4,
"indices": [
131,
132,
133,
134
]
},
"state/robot/position": {
"description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
"dimensions": 3,
"indices": [
128,
129,
130
]
},
"state/waist/position": {
"description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
"dimensions": 5,
"indices": [
123,
124,
125,
126,
127
]
}
},
"shape": [
208
]
},
"observations": {
"hand_left": {
"color_space": "RGB",
"dtype": "uint8",
"encoding": "png",
"role": "initial_observation"
},
"hand_right": {
"color_space": "RGB",
"dtype": "uint8",
"encoding": "png",
"role": "initial_observation"
},
"top_head": {
"color_space": "RGB",
"dtype": "uint8",
"encoding": "png",
"role": "initial_observation"
}
}
},
"fps": 30.0,
"schema_version": "acwmbench.inference.v1",
"task": "pulldrawer"
}
|