File size: 22,692 Bytes
208ce9d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 | {
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 20,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.wrist_image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 20,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"ee_position_x",
"ee_position_y",
"ee_position_z",
"ee_axis_angle_x",
"ee_axis_angle_y",
"ee_axis_angle_z",
"gripper_left_qpos",
"gripper_right_qpos"
]
},
"observation.environment_state": {
"dtype": "float64",
"shape": [
314
],
"names": [
"simulation_time_seconds",
"qpos_robot0_joint1_angle",
"qpos_robot0_joint2_angle",
"qpos_robot0_joint3_angle",
"qpos_robot0_joint4_angle",
"qpos_robot0_joint5_angle",
"qpos_robot0_joint6_angle",
"qpos_robot0_joint7_angle",
"qpos_gripper0_right_finger_joint1_position",
"qpos_gripper0_right_finger_joint2_position",
"qpos_red_cube_joint0_position_x",
"qpos_red_cube_joint0_position_y",
"qpos_red_cube_joint0_position_z",
"qpos_red_cube_joint0_quaternion_w",
"qpos_red_cube_joint0_quaternion_x",
"qpos_red_cube_joint0_quaternion_y",
"qpos_red_cube_joint0_quaternion_z",
"qpos_blue_cube_joint0_position_x",
"qpos_blue_cube_joint0_position_y",
"qpos_blue_cube_joint0_position_z",
"qpos_blue_cube_joint0_quaternion_w",
"qpos_blue_cube_joint0_quaternion_x",
"qpos_blue_cube_joint0_quaternion_y",
"qpos_blue_cube_joint0_quaternion_z",
"qpos_green_cube_joint0_position_x",
"qpos_green_cube_joint0_position_y",
"qpos_green_cube_joint0_position_z",
"qpos_green_cube_joint0_quaternion_w",
"qpos_green_cube_joint0_quaternion_x",
"qpos_green_cube_joint0_quaternion_y",
"qpos_green_cube_joint0_quaternion_z",
"qvel_robot0_joint1_angular_velocity",
"qvel_robot0_joint2_angular_velocity",
"qvel_robot0_joint3_angular_velocity",
"qvel_robot0_joint4_angular_velocity",
"qvel_robot0_joint5_angular_velocity",
"qvel_robot0_joint6_angular_velocity",
"qvel_robot0_joint7_angular_velocity",
"qvel_gripper0_right_finger_joint1_linear_velocity",
"qvel_gripper0_right_finger_joint2_linear_velocity",
"qvel_red_cube_joint0_linear_velocity_x",
"qvel_red_cube_joint0_linear_velocity_y",
"qvel_red_cube_joint0_linear_velocity_z",
"qvel_red_cube_joint0_angular_velocity_x",
"qvel_red_cube_joint0_angular_velocity_y",
"qvel_red_cube_joint0_angular_velocity_z",
"qvel_blue_cube_joint0_linear_velocity_x",
"qvel_blue_cube_joint0_linear_velocity_y",
"qvel_blue_cube_joint0_linear_velocity_z",
"qvel_blue_cube_joint0_angular_velocity_x",
"qvel_blue_cube_joint0_angular_velocity_y",
"qvel_blue_cube_joint0_angular_velocity_z",
"qvel_green_cube_joint0_linear_velocity_x",
"qvel_green_cube_joint0_linear_velocity_y",
"qvel_green_cube_joint0_linear_velocity_z",
"qvel_green_cube_joint0_angular_velocity_x",
"qvel_green_cube_joint0_angular_velocity_y",
"qvel_green_cube_joint0_angular_velocity_z",
"qacc_warmstart_robot0_joint1_angular_velocity",
"qacc_warmstart_robot0_joint2_angular_velocity",
"qacc_warmstart_robot0_joint3_angular_velocity",
"qacc_warmstart_robot0_joint4_angular_velocity",
"qacc_warmstart_robot0_joint5_angular_velocity",
"qacc_warmstart_robot0_joint6_angular_velocity",
"qacc_warmstart_robot0_joint7_angular_velocity",
"qacc_warmstart_gripper0_right_finger_joint1_linear_velocity",
"qacc_warmstart_gripper0_right_finger_joint2_linear_velocity",
"qacc_warmstart_red_cube_joint0_linear_velocity_x",
"qacc_warmstart_red_cube_joint0_linear_velocity_y",
"qacc_warmstart_red_cube_joint0_linear_velocity_z",
"qacc_warmstart_red_cube_joint0_angular_velocity_x",
"qacc_warmstart_red_cube_joint0_angular_velocity_y",
"qacc_warmstart_red_cube_joint0_angular_velocity_z",
"qacc_warmstart_blue_cube_joint0_linear_velocity_x",
"qacc_warmstart_blue_cube_joint0_linear_velocity_y",
"qacc_warmstart_blue_cube_joint0_linear_velocity_z",
"qacc_warmstart_blue_cube_joint0_angular_velocity_x",
"qacc_warmstart_blue_cube_joint0_angular_velocity_y",
"qacc_warmstart_blue_cube_joint0_angular_velocity_z",
"qacc_warmstart_green_cube_joint0_linear_velocity_x",
"qacc_warmstart_green_cube_joint0_linear_velocity_y",
"qacc_warmstart_green_cube_joint0_linear_velocity_z",
"qacc_warmstart_green_cube_joint0_angular_velocity_x",
"qacc_warmstart_green_cube_joint0_angular_velocity_y",
"qacc_warmstart_green_cube_joint0_angular_velocity_z",
"control_robot0_torq_j1",
"control_robot0_torq_j2",
"control_robot0_torq_j3",
"control_robot0_torq_j4",
"control_robot0_torq_j5",
"control_robot0_torq_j6",
"control_robot0_torq_j7",
"control_gripper0_right_gripper_finger_joint1",
"control_gripper0_right_gripper_finger_joint2",
"qfrc_applied_robot0_joint1_angular_velocity",
"qfrc_applied_robot0_joint2_angular_velocity",
"qfrc_applied_robot0_joint3_angular_velocity",
"qfrc_applied_robot0_joint4_angular_velocity",
"qfrc_applied_robot0_joint5_angular_velocity",
"qfrc_applied_robot0_joint6_angular_velocity",
"qfrc_applied_robot0_joint7_angular_velocity",
"qfrc_applied_gripper0_right_finger_joint1_linear_velocity",
"qfrc_applied_gripper0_right_finger_joint2_linear_velocity",
"qfrc_applied_red_cube_joint0_linear_velocity_x",
"qfrc_applied_red_cube_joint0_linear_velocity_y",
"qfrc_applied_red_cube_joint0_linear_velocity_z",
"qfrc_applied_red_cube_joint0_angular_velocity_x",
"qfrc_applied_red_cube_joint0_angular_velocity_y",
"qfrc_applied_red_cube_joint0_angular_velocity_z",
"qfrc_applied_blue_cube_joint0_linear_velocity_x",
"qfrc_applied_blue_cube_joint0_linear_velocity_y",
"qfrc_applied_blue_cube_joint0_linear_velocity_z",
"qfrc_applied_blue_cube_joint0_angular_velocity_x",
"qfrc_applied_blue_cube_joint0_angular_velocity_y",
"qfrc_applied_blue_cube_joint0_angular_velocity_z",
"qfrc_applied_green_cube_joint0_linear_velocity_x",
"qfrc_applied_green_cube_joint0_linear_velocity_y",
"qfrc_applied_green_cube_joint0_linear_velocity_z",
"qfrc_applied_green_cube_joint0_angular_velocity_x",
"qfrc_applied_green_cube_joint0_angular_velocity_y",
"qfrc_applied_green_cube_joint0_angular_velocity_z",
"xfrc_applied_world_force_x",
"xfrc_applied_world_force_y",
"xfrc_applied_world_force_z",
"xfrc_applied_world_torque_x",
"xfrc_applied_world_torque_y",
"xfrc_applied_world_torque_z",
"xfrc_applied_table_force_x",
"xfrc_applied_table_force_y",
"xfrc_applied_table_force_z",
"xfrc_applied_table_torque_x",
"xfrc_applied_table_torque_y",
"xfrc_applied_table_torque_z",
"xfrc_applied_left_eef_target_force_x",
"xfrc_applied_left_eef_target_force_y",
"xfrc_applied_left_eef_target_force_z",
"xfrc_applied_left_eef_target_torque_x",
"xfrc_applied_left_eef_target_torque_y",
"xfrc_applied_left_eef_target_torque_z",
"xfrc_applied_right_eef_target_force_x",
"xfrc_applied_right_eef_target_force_y",
"xfrc_applied_right_eef_target_force_z",
"xfrc_applied_right_eef_target_torque_x",
"xfrc_applied_right_eef_target_torque_y",
"xfrc_applied_right_eef_target_torque_z",
"xfrc_applied_robot0_base_force_x",
"xfrc_applied_robot0_base_force_y",
"xfrc_applied_robot0_base_force_z",
"xfrc_applied_robot0_base_torque_x",
"xfrc_applied_robot0_base_torque_y",
"xfrc_applied_robot0_base_torque_z",
"xfrc_applied_robot0_link0_force_x",
"xfrc_applied_robot0_link0_force_y",
"xfrc_applied_robot0_link0_force_z",
"xfrc_applied_robot0_link0_torque_x",
"xfrc_applied_robot0_link0_torque_y",
"xfrc_applied_robot0_link0_torque_z",
"xfrc_applied_robot0_link1_force_x",
"xfrc_applied_robot0_link1_force_y",
"xfrc_applied_robot0_link1_force_z",
"xfrc_applied_robot0_link1_torque_x",
"xfrc_applied_robot0_link1_torque_y",
"xfrc_applied_robot0_link1_torque_z",
"xfrc_applied_robot0_link2_force_x",
"xfrc_applied_robot0_link2_force_y",
"xfrc_applied_robot0_link2_force_z",
"xfrc_applied_robot0_link2_torque_x",
"xfrc_applied_robot0_link2_torque_y",
"xfrc_applied_robot0_link2_torque_z",
"xfrc_applied_robot0_link3_force_x",
"xfrc_applied_robot0_link3_force_y",
"xfrc_applied_robot0_link3_force_z",
"xfrc_applied_robot0_link3_torque_x",
"xfrc_applied_robot0_link3_torque_y",
"xfrc_applied_robot0_link3_torque_z",
"xfrc_applied_robot0_link4_force_x",
"xfrc_applied_robot0_link4_force_y",
"xfrc_applied_robot0_link4_force_z",
"xfrc_applied_robot0_link4_torque_x",
"xfrc_applied_robot0_link4_torque_y",
"xfrc_applied_robot0_link4_torque_z",
"xfrc_applied_robot0_link5_force_x",
"xfrc_applied_robot0_link5_force_y",
"xfrc_applied_robot0_link5_force_z",
"xfrc_applied_robot0_link5_torque_x",
"xfrc_applied_robot0_link5_torque_y",
"xfrc_applied_robot0_link5_torque_z",
"xfrc_applied_robot0_link6_force_x",
"xfrc_applied_robot0_link6_force_y",
"xfrc_applied_robot0_link6_force_z",
"xfrc_applied_robot0_link6_torque_x",
"xfrc_applied_robot0_link6_torque_y",
"xfrc_applied_robot0_link6_torque_z",
"xfrc_applied_robot0_link7_force_x",
"xfrc_applied_robot0_link7_force_y",
"xfrc_applied_robot0_link7_force_z",
"xfrc_applied_robot0_link7_torque_x",
"xfrc_applied_robot0_link7_torque_y",
"xfrc_applied_robot0_link7_torque_z",
"xfrc_applied_robot0_right_hand_force_x",
"xfrc_applied_robot0_right_hand_force_y",
"xfrc_applied_robot0_right_hand_force_z",
"xfrc_applied_robot0_right_hand_torque_x",
"xfrc_applied_robot0_right_hand_torque_y",
"xfrc_applied_robot0_right_hand_torque_z",
"xfrc_applied_gripper0_right_right_gripper_force_x",
"xfrc_applied_gripper0_right_right_gripper_force_y",
"xfrc_applied_gripper0_right_right_gripper_force_z",
"xfrc_applied_gripper0_right_right_gripper_torque_x",
"xfrc_applied_gripper0_right_right_gripper_torque_y",
"xfrc_applied_gripper0_right_right_gripper_torque_z",
"xfrc_applied_gripper0_right_eef_force_x",
"xfrc_applied_gripper0_right_eef_force_y",
"xfrc_applied_gripper0_right_eef_force_z",
"xfrc_applied_gripper0_right_eef_torque_x",
"xfrc_applied_gripper0_right_eef_torque_y",
"xfrc_applied_gripper0_right_eef_torque_z",
"xfrc_applied_gripper0_right_leftfinger_force_x",
"xfrc_applied_gripper0_right_leftfinger_force_y",
"xfrc_applied_gripper0_right_leftfinger_force_z",
"xfrc_applied_gripper0_right_leftfinger_torque_x",
"xfrc_applied_gripper0_right_leftfinger_torque_y",
"xfrc_applied_gripper0_right_leftfinger_torque_z",
"xfrc_applied_gripper0_right_finger_joint1_tip_force_x",
"xfrc_applied_gripper0_right_finger_joint1_tip_force_y",
"xfrc_applied_gripper0_right_finger_joint1_tip_force_z",
"xfrc_applied_gripper0_right_finger_joint1_tip_torque_x",
"xfrc_applied_gripper0_right_finger_joint1_tip_torque_y",
"xfrc_applied_gripper0_right_finger_joint1_tip_torque_z",
"xfrc_applied_gripper0_right_rightfinger_force_x",
"xfrc_applied_gripper0_right_rightfinger_force_y",
"xfrc_applied_gripper0_right_rightfinger_force_z",
"xfrc_applied_gripper0_right_rightfinger_torque_x",
"xfrc_applied_gripper0_right_rightfinger_torque_y",
"xfrc_applied_gripper0_right_rightfinger_torque_z",
"xfrc_applied_gripper0_right_finger_joint2_tip_force_x",
"xfrc_applied_gripper0_right_finger_joint2_tip_force_y",
"xfrc_applied_gripper0_right_finger_joint2_tip_force_z",
"xfrc_applied_gripper0_right_finger_joint2_tip_torque_x",
"xfrc_applied_gripper0_right_finger_joint2_tip_torque_y",
"xfrc_applied_gripper0_right_finger_joint2_tip_torque_z",
"xfrc_applied_fixed_mount0_base_force_x",
"xfrc_applied_fixed_mount0_base_force_y",
"xfrc_applied_fixed_mount0_base_force_z",
"xfrc_applied_fixed_mount0_base_torque_x",
"xfrc_applied_fixed_mount0_base_torque_y",
"xfrc_applied_fixed_mount0_base_torque_z",
"xfrc_applied_fixed_mount0_controller_box_force_x",
"xfrc_applied_fixed_mount0_controller_box_force_y",
"xfrc_applied_fixed_mount0_controller_box_force_z",
"xfrc_applied_fixed_mount0_controller_box_torque_x",
"xfrc_applied_fixed_mount0_controller_box_torque_y",
"xfrc_applied_fixed_mount0_controller_box_torque_z",
"xfrc_applied_fixed_mount0_pedestal_feet_force_x",
"xfrc_applied_fixed_mount0_pedestal_feet_force_y",
"xfrc_applied_fixed_mount0_pedestal_feet_force_z",
"xfrc_applied_fixed_mount0_pedestal_feet_torque_x",
"xfrc_applied_fixed_mount0_pedestal_feet_torque_y",
"xfrc_applied_fixed_mount0_pedestal_feet_torque_z",
"xfrc_applied_fixed_mount0_torso_force_x",
"xfrc_applied_fixed_mount0_torso_force_y",
"xfrc_applied_fixed_mount0_torso_force_z",
"xfrc_applied_fixed_mount0_torso_torque_x",
"xfrc_applied_fixed_mount0_torso_torque_y",
"xfrc_applied_fixed_mount0_torso_torque_z",
"xfrc_applied_fixed_mount0_pedestal_force_x",
"xfrc_applied_fixed_mount0_pedestal_force_y",
"xfrc_applied_fixed_mount0_pedestal_force_z",
"xfrc_applied_fixed_mount0_pedestal_torque_x",
"xfrc_applied_fixed_mount0_pedestal_torque_y",
"xfrc_applied_fixed_mount0_pedestal_torque_z",
"xfrc_applied_red_cube_main_force_x",
"xfrc_applied_red_cube_main_force_y",
"xfrc_applied_red_cube_main_force_z",
"xfrc_applied_red_cube_main_torque_x",
"xfrc_applied_red_cube_main_torque_y",
"xfrc_applied_red_cube_main_torque_z",
"xfrc_applied_blue_cube_main_force_x",
"xfrc_applied_blue_cube_main_force_y",
"xfrc_applied_blue_cube_main_force_z",
"xfrc_applied_blue_cube_main_torque_x",
"xfrc_applied_blue_cube_main_torque_y",
"xfrc_applied_blue_cube_main_torque_z",
"xfrc_applied_green_cube_main_force_x",
"xfrc_applied_green_cube_main_force_y",
"xfrc_applied_green_cube_main_force_z",
"xfrc_applied_green_cube_main_torque_x",
"xfrc_applied_green_cube_main_torque_y",
"xfrc_applied_green_cube_main_torque_z",
"mocap_left_eef_target_position_x",
"mocap_left_eef_target_position_y",
"mocap_left_eef_target_position_z",
"mocap_right_eef_target_position_x",
"mocap_right_eef_target_position_y",
"mocap_right_eef_target_position_z",
"mocap_left_eef_target_quaternion_w",
"mocap_left_eef_target_quaternion_x",
"mocap_left_eef_target_quaternion_y",
"mocap_left_eef_target_quaternion_z",
"mocap_right_eef_target_quaternion_w",
"mocap_right_eef_target_quaternion_x",
"mocap_right_eef_target_quaternion_y",
"mocap_right_eef_target_quaternion_z",
"controller_robot0_right_initial_joint_robot0_joint1",
"controller_robot0_right_initial_joint_robot0_joint2",
"controller_robot0_right_initial_joint_robot0_joint3",
"controller_robot0_right_initial_joint_robot0_joint4",
"controller_robot0_right_initial_joint_robot0_joint5",
"controller_robot0_right_initial_joint_robot0_joint6",
"controller_robot0_right_initial_joint_robot0_joint7",
"controller_robot0_right_gripper_initial_joint_joint_0",
"controller_robot0_right_gripper_initial_joint_joint_1",
"gripper_robot0_right_current_action_0",
"gripper_robot0_right_current_action_1"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"normalized_ee_position_delta_x",
"normalized_ee_position_delta_y",
"normalized_ee_position_delta_z",
"normalized_ee_rotation_delta_x",
"normalized_ee_rotation_delta_y",
"normalized_ee_rotation_delta_z",
"normalized_gripper_command"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"total_episodes": 3000,
"total_frames": 126698,
"total_tasks": 9,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "panda",
"splits": {
"train": "0:3000"
}
} |