File size: 22,692 Bytes
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"gripper_left_qpos",
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},
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"qpos_green_cube_joint0_position_x",
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"qacc_warmstart_blue_cube_joint0_angular_velocity_y",
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"control_robot0_torq_j1",
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"xfrc_applied_world_force_x",
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"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",
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"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",
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"xfrc_applied_robot0_link0_force_x",
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"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",
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"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",
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"xfrc_applied_robot0_right_hand_torque_y",
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"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",
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"xfrc_applied_gripper0_right_finger_joint1_tip_torque_x",
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"xfrc_applied_gripper0_right_finger_joint1_tip_torque_z",
"xfrc_applied_gripper0_right_rightfinger_force_x",
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"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",
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"xfrc_applied_fixed_mount0_base_force_y",
"xfrc_applied_fixed_mount0_base_force_z",
"xfrc_applied_fixed_mount0_base_torque_x",
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"xfrc_applied_fixed_mount0_controller_box_torque_x",
"xfrc_applied_fixed_mount0_controller_box_torque_y",
"xfrc_applied_fixed_mount0_controller_box_torque_z",
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"xfrc_applied_fixed_mount0_pedestal_feet_force_y",
"xfrc_applied_fixed_mount0_pedestal_feet_force_z",
"xfrc_applied_fixed_mount0_pedestal_feet_torque_x",
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"xfrc_applied_fixed_mount0_pedestal_feet_torque_z",
"xfrc_applied_fixed_mount0_torso_force_x",
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"xfrc_applied_fixed_mount0_torso_torque_z",
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"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",
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"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": {
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],
"names": [
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"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"
]
},
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}
},
"total_episodes": 3150,
"total_frames": 149569,
"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": {
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}
} |