File size: 3,512 Bytes
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"name": "tower_simdata_hdf5",
"root_schema_version": "jenga_nero_hdf5_v8_camera_orientation",
"frame_symbol": "T",
"required_attributes": {
"recording_complete": true,
"fps": 30.0,
"image_encoding": "jpeg",
"arm_order": "[\"left\", \"back\"]",
"action_alignment": "row observation precedes action interval; terminal row action_valid=false"
},
"required_datasets": {
"observations/qpos": {"dtype": "float32", "shape": ["T", 16], "finite": true},
"leader/qpos": {"dtype": "float32", "shape": ["T", 16], "finite": true},
"observations/eef": {"dtype": "float32", "shape": ["T", 14], "finite": true},
"leader/eef": {"dtype": "float32", "shape": ["T", 14], "finite": true},
"observations/gripper_status": {"dtype": "float32", "shape": ["T", 8], "finite": true},
"observations/images/left_back_camera": {"dtype": "vlen-bytes", "shape": ["T"], "encoding": "jpeg"},
"observations/images/right_front_camera": {"dtype": "vlen-bytes", "shape": ["T"], "encoding": "jpeg"},
"observations/images/left_wrist_camera": {"dtype": "vlen-bytes", "shape": ["T"], "encoding": "jpeg"},
"observations/images/back_wrist_camera": {"dtype": "vlen-bytes", "shape": ["T"], "encoding": "jpeg"},
"observations/lifter/position_mm": {"dtype": "float32", "shape": ["T", 2], "finite": true},
"observations/lifter/physical_height_mm": {"dtype": "float32", "shape": ["T", 2], "finite": true},
"observations/lifter/is_moving": {"dtype": "uint8", "shape": ["T", 2]},
"observations/lifter/sample_age_ms": {"dtype": "float32", "shape": ["T", 2], "finite": true},
"observations/lifter/valid": {"dtype": "uint8", "shape": ["T", 2]},
"lifter/action_mm": {"dtype": "float32", "shape": ["T", 2], "finite": true},
"lifter/active_target_mm": {"dtype": "float32", "shape": ["T", 2], "finite": true},
"lifter/command_delta_mm": {"dtype": "int16", "shape": ["T", 2]},
"sim/action_valid": {"dtype": "bool", "shape": ["T"]},
"sim/active_block": {"dtype": "int16", "shape": ["T"]},
"sim/block_poses": {"dtype": "float32", "shape": ["T", "B", 7], "finite": true},
"sim/block_released": {"dtype": "bool", "shape": ["T", "B"]},
"sim/block_velocities": {"dtype": "float32", "shape": ["T", "B", 6], "finite": true},
"sim/collapse": {"dtype": "bool", "shape": ["T"]},
"sim/event_count": {"dtype": "int32", "shape": ["T"]},
"sim/joint_efforts": {"dtype": "float32", "shape": ["T", 16], "finite": true},
"sim/joint_velocities": {"dtype": "float32", "shape": ["T", 16], "finite": true},
"sim/recovery_attempt": {"dtype": "int16", "shape": ["T"]},
"sim/success": {"dtype": "bool", "shape": ["T"]},
"sim/task_phase": {"dtype": "int16", "shape": ["T"]},
"sim/task_progress": {"dtype": "float32", "shape": ["T", 2], "finite": true},
"sim/terminal": {"dtype": "bool", "shape": ["T"]},
"sim/time": {"dtype": "float64", "shape": ["T"], "finite": true},
"timestamps/row_ros_ns": {"dtype": "int64", "shape": ["T", 1]},
"timestamps/lifter_command_ros_ns": {"dtype": "int64", "shape": ["T", 2]},
"timestamps/lifter_source_before_ns": {"dtype": "int64", "shape": ["T", 2]},
"timestamps/lifter_source_after_ns": {"dtype": "int64", "shape": ["T", 2]},
"timestamps/lifter_sync_error_ns": {"dtype": "int64", "shape": ["T", 2]}
},
"optional_datasets": {
"keyframes": {"dtype": "int64", "shape": ["K"]},
"sim/finger_pad_centers_m": {"dtype": "float64", "shape": ["T", 2, 2, 3], "finite": true}
}
}
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