mirror corpus from the cluster
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|
| 68 |
+
"names": [
|
| 69 |
+
"ee_position_x",
|
| 70 |
+
"ee_position_y",
|
| 71 |
+
"ee_position_z",
|
| 72 |
+
"ee_axis_angle_x",
|
| 73 |
+
"ee_axis_angle_y",
|
| 74 |
+
"ee_axis_angle_z",
|
| 75 |
+
"gripper_left_qpos",
|
| 76 |
+
"gripper_right_qpos"
|
| 77 |
+
]
|
| 78 |
+
},
|
| 79 |
+
"observation.environment_state": {
|
| 80 |
+
"dtype": "float64",
|
| 81 |
+
"shape": [
|
| 82 |
+
314
|
| 83 |
+
],
|
| 84 |
+
"names": [
|
| 85 |
+
"simulation_time_seconds",
|
| 86 |
+
"qpos_robot0_joint1_angle",
|
| 87 |
+
"qpos_robot0_joint2_angle",
|
| 88 |
+
"qpos_robot0_joint3_angle",
|
| 89 |
+
"qpos_robot0_joint4_angle",
|
| 90 |
+
"qpos_robot0_joint5_angle",
|
| 91 |
+
"qpos_robot0_joint6_angle",
|
| 92 |
+
"qpos_robot0_joint7_angle",
|
| 93 |
+
"qpos_gripper0_right_finger_joint1_position",
|
| 94 |
+
"qpos_gripper0_right_finger_joint2_position",
|
| 95 |
+
"qpos_red_cube_joint0_position_x",
|
| 96 |
+
"qpos_red_cube_joint0_position_y",
|
| 97 |
+
"qpos_red_cube_joint0_position_z",
|
| 98 |
+
"qpos_red_cube_joint0_quaternion_w",
|
| 99 |
+
"qpos_red_cube_joint0_quaternion_x",
|
| 100 |
+
"qpos_red_cube_joint0_quaternion_y",
|
| 101 |
+
"qpos_red_cube_joint0_quaternion_z",
|
| 102 |
+
"qpos_blue_cube_joint0_position_x",
|
| 103 |
+
"qpos_blue_cube_joint0_position_y",
|
| 104 |
+
"qpos_blue_cube_joint0_position_z",
|
| 105 |
+
"qpos_blue_cube_joint0_quaternion_w",
|
| 106 |
+
"qpos_blue_cube_joint0_quaternion_x",
|
| 107 |
+
"qpos_blue_cube_joint0_quaternion_y",
|
| 108 |
+
"qpos_blue_cube_joint0_quaternion_z",
|
| 109 |
+
"qpos_green_cube_joint0_position_x",
|
| 110 |
+
"qpos_green_cube_joint0_position_y",
|
| 111 |
+
"qpos_green_cube_joint0_position_z",
|
| 112 |
+
"qpos_green_cube_joint0_quaternion_w",
|
| 113 |
+
"qpos_green_cube_joint0_quaternion_x",
|
| 114 |
+
"qpos_green_cube_joint0_quaternion_y",
|
| 115 |
+
"qpos_green_cube_joint0_quaternion_z",
|
| 116 |
+
"qvel_robot0_joint1_angular_velocity",
|
| 117 |
+
"qvel_robot0_joint2_angular_velocity",
|
| 118 |
+
"qvel_robot0_joint3_angular_velocity",
|
| 119 |
+
"qvel_robot0_joint4_angular_velocity",
|
| 120 |
+
"qvel_robot0_joint5_angular_velocity",
|
| 121 |
+
"qvel_robot0_joint6_angular_velocity",
|
| 122 |
+
"qvel_robot0_joint7_angular_velocity",
|
| 123 |
+
"qvel_gripper0_right_finger_joint1_linear_velocity",
|
| 124 |
+
"qvel_gripper0_right_finger_joint2_linear_velocity",
|
| 125 |
+
"qvel_red_cube_joint0_linear_velocity_x",
|
| 126 |
+
"qvel_red_cube_joint0_linear_velocity_y",
|
| 127 |
+
"qvel_red_cube_joint0_linear_velocity_z",
|
| 128 |
+
"qvel_red_cube_joint0_angular_velocity_x",
|
| 129 |
+
"qvel_red_cube_joint0_angular_velocity_y",
|
| 130 |
+
"qvel_red_cube_joint0_angular_velocity_z",
|
| 131 |
+
"qvel_blue_cube_joint0_linear_velocity_x",
|
| 132 |
+
"qvel_blue_cube_joint0_linear_velocity_y",
|
| 133 |
+
"qvel_blue_cube_joint0_linear_velocity_z",
|
| 134 |
+
"qvel_blue_cube_joint0_angular_velocity_x",
|
| 135 |
+
"qvel_blue_cube_joint0_angular_velocity_y",
|
| 136 |
+
"qvel_blue_cube_joint0_angular_velocity_z",
|
| 137 |
+
"qvel_green_cube_joint0_linear_velocity_x",
|
| 138 |
+
"qvel_green_cube_joint0_linear_velocity_y",
|
| 139 |
+
"qvel_green_cube_joint0_linear_velocity_z",
|
| 140 |
+
"qvel_green_cube_joint0_angular_velocity_x",
|
| 141 |
+
"qvel_green_cube_joint0_angular_velocity_y",
|
| 142 |
+
"qvel_green_cube_joint0_angular_velocity_z",
|
| 143 |
+
"qacc_warmstart_robot0_joint1_angular_velocity",
|
| 144 |
+
"qacc_warmstart_robot0_joint2_angular_velocity",
|
| 145 |
+
"qacc_warmstart_robot0_joint3_angular_velocity",
|
| 146 |
+
"qacc_warmstart_robot0_joint4_angular_velocity",
|
| 147 |
+
"qacc_warmstart_robot0_joint5_angular_velocity",
|
| 148 |
+
"qacc_warmstart_robot0_joint6_angular_velocity",
|
| 149 |
+
"qacc_warmstart_robot0_joint7_angular_velocity",
|
| 150 |
+
"qacc_warmstart_gripper0_right_finger_joint1_linear_velocity",
|
| 151 |
+
"qacc_warmstart_gripper0_right_finger_joint2_linear_velocity",
|
| 152 |
+
"qacc_warmstart_red_cube_joint0_linear_velocity_x",
|
| 153 |
+
"qacc_warmstart_red_cube_joint0_linear_velocity_y",
|
| 154 |
+
"qacc_warmstart_red_cube_joint0_linear_velocity_z",
|
| 155 |
+
"qacc_warmstart_red_cube_joint0_angular_velocity_x",
|
| 156 |
+
"qacc_warmstart_red_cube_joint0_angular_velocity_y",
|
| 157 |
+
"qacc_warmstart_red_cube_joint0_angular_velocity_z",
|
| 158 |
+
"qacc_warmstart_blue_cube_joint0_linear_velocity_x",
|
| 159 |
+
"qacc_warmstart_blue_cube_joint0_linear_velocity_y",
|
| 160 |
+
"qacc_warmstart_blue_cube_joint0_linear_velocity_z",
|
| 161 |
+
"qacc_warmstart_blue_cube_joint0_angular_velocity_x",
|
| 162 |
+
"qacc_warmstart_blue_cube_joint0_angular_velocity_y",
|
| 163 |
+
"qacc_warmstart_blue_cube_joint0_angular_velocity_z",
|
| 164 |
+
"qacc_warmstart_green_cube_joint0_linear_velocity_x",
|
| 165 |
+
"qacc_warmstart_green_cube_joint0_linear_velocity_y",
|
| 166 |
+
"qacc_warmstart_green_cube_joint0_linear_velocity_z",
|
| 167 |
+
"qacc_warmstart_green_cube_joint0_angular_velocity_x",
|
| 168 |
+
"qacc_warmstart_green_cube_joint0_angular_velocity_y",
|
| 169 |
+
"qacc_warmstart_green_cube_joint0_angular_velocity_z",
|
| 170 |
+
"control_robot0_torq_j1",
|
| 171 |
+
"control_robot0_torq_j2",
|
| 172 |
+
"control_robot0_torq_j3",
|
| 173 |
+
"control_robot0_torq_j4",
|
| 174 |
+
"control_robot0_torq_j5",
|
| 175 |
+
"control_robot0_torq_j6",
|
| 176 |
+
"control_robot0_torq_j7",
|
| 177 |
+
"control_gripper0_right_gripper_finger_joint1",
|
| 178 |
+
"control_gripper0_right_gripper_finger_joint2",
|
| 179 |
+
"qfrc_applied_robot0_joint1_angular_velocity",
|
| 180 |
+
"qfrc_applied_robot0_joint2_angular_velocity",
|
| 181 |
+
"qfrc_applied_robot0_joint3_angular_velocity",
|
| 182 |
+
"qfrc_applied_robot0_joint4_angular_velocity",
|
| 183 |
+
"qfrc_applied_robot0_joint5_angular_velocity",
|
| 184 |
+
"qfrc_applied_robot0_joint6_angular_velocity",
|
| 185 |
+
"qfrc_applied_robot0_joint7_angular_velocity",
|
| 186 |
+
"qfrc_applied_gripper0_right_finger_joint1_linear_velocity",
|
| 187 |
+
"qfrc_applied_gripper0_right_finger_joint2_linear_velocity",
|
| 188 |
+
"qfrc_applied_red_cube_joint0_linear_velocity_x",
|
| 189 |
+
"qfrc_applied_red_cube_joint0_linear_velocity_y",
|
| 190 |
+
"qfrc_applied_red_cube_joint0_linear_velocity_z",
|
| 191 |
+
"qfrc_applied_red_cube_joint0_angular_velocity_x",
|
| 192 |
+
"qfrc_applied_red_cube_joint0_angular_velocity_y",
|
| 193 |
+
"qfrc_applied_red_cube_joint0_angular_velocity_z",
|
| 194 |
+
"qfrc_applied_blue_cube_joint0_linear_velocity_x",
|
| 195 |
+
"qfrc_applied_blue_cube_joint0_linear_velocity_y",
|
| 196 |
+
"qfrc_applied_blue_cube_joint0_linear_velocity_z",
|
| 197 |
+
"qfrc_applied_blue_cube_joint0_angular_velocity_x",
|
| 198 |
+
"qfrc_applied_blue_cube_joint0_angular_velocity_y",
|
| 199 |
+
"qfrc_applied_blue_cube_joint0_angular_velocity_z",
|
| 200 |
+
"qfrc_applied_green_cube_joint0_linear_velocity_x",
|
| 201 |
+
"qfrc_applied_green_cube_joint0_linear_velocity_y",
|
| 202 |
+
"qfrc_applied_green_cube_joint0_linear_velocity_z",
|
| 203 |
+
"qfrc_applied_green_cube_joint0_angular_velocity_x",
|
| 204 |
+
"qfrc_applied_green_cube_joint0_angular_velocity_y",
|
| 205 |
+
"qfrc_applied_green_cube_joint0_angular_velocity_z",
|
| 206 |
+
"xfrc_applied_world_force_x",
|
| 207 |
+
"xfrc_applied_world_force_y",
|
| 208 |
+
"xfrc_applied_world_force_z",
|
| 209 |
+
"xfrc_applied_world_torque_x",
|
| 210 |
+
"xfrc_applied_world_torque_y",
|
| 211 |
+
"xfrc_applied_world_torque_z",
|
| 212 |
+
"xfrc_applied_table_force_x",
|
| 213 |
+
"xfrc_applied_table_force_y",
|
| 214 |
+
"xfrc_applied_table_force_z",
|
| 215 |
+
"xfrc_applied_table_torque_x",
|
| 216 |
+
"xfrc_applied_table_torque_y",
|
| 217 |
+
"xfrc_applied_table_torque_z",
|
| 218 |
+
"xfrc_applied_left_eef_target_force_x",
|
| 219 |
+
"xfrc_applied_left_eef_target_force_y",
|
| 220 |
+
"xfrc_applied_left_eef_target_force_z",
|
| 221 |
+
"xfrc_applied_left_eef_target_torque_x",
|
| 222 |
+
"xfrc_applied_left_eef_target_torque_y",
|
| 223 |
+
"xfrc_applied_left_eef_target_torque_z",
|
| 224 |
+
"xfrc_applied_right_eef_target_force_x",
|
| 225 |
+
"xfrc_applied_right_eef_target_force_y",
|
| 226 |
+
"xfrc_applied_right_eef_target_force_z",
|
| 227 |
+
"xfrc_applied_right_eef_target_torque_x",
|
| 228 |
+
"xfrc_applied_right_eef_target_torque_y",
|
| 229 |
+
"xfrc_applied_right_eef_target_torque_z",
|
| 230 |
+
"xfrc_applied_robot0_base_force_x",
|
| 231 |
+
"xfrc_applied_robot0_base_force_y",
|
| 232 |
+
"xfrc_applied_robot0_base_force_z",
|
| 233 |
+
"xfrc_applied_robot0_base_torque_x",
|
| 234 |
+
"xfrc_applied_robot0_base_torque_y",
|
| 235 |
+
"xfrc_applied_robot0_base_torque_z",
|
| 236 |
+
"xfrc_applied_robot0_link0_force_x",
|
| 237 |
+
"xfrc_applied_robot0_link0_force_y",
|
| 238 |
+
"xfrc_applied_robot0_link0_force_z",
|
| 239 |
+
"xfrc_applied_robot0_link0_torque_x",
|
| 240 |
+
"xfrc_applied_robot0_link0_torque_y",
|
| 241 |
+
"xfrc_applied_robot0_link0_torque_z",
|
| 242 |
+
"xfrc_applied_robot0_link1_force_x",
|
| 243 |
+
"xfrc_applied_robot0_link1_force_y",
|
| 244 |
+
"xfrc_applied_robot0_link1_force_z",
|
| 245 |
+
"xfrc_applied_robot0_link1_torque_x",
|
| 246 |
+
"xfrc_applied_robot0_link1_torque_y",
|
| 247 |
+
"xfrc_applied_robot0_link1_torque_z",
|
| 248 |
+
"xfrc_applied_robot0_link2_force_x",
|
| 249 |
+
"xfrc_applied_robot0_link2_force_y",
|
| 250 |
+
"xfrc_applied_robot0_link2_force_z",
|
| 251 |
+
"xfrc_applied_robot0_link2_torque_x",
|
| 252 |
+
"xfrc_applied_robot0_link2_torque_y",
|
| 253 |
+
"xfrc_applied_robot0_link2_torque_z",
|
| 254 |
+
"xfrc_applied_robot0_link3_force_x",
|
| 255 |
+
"xfrc_applied_robot0_link3_force_y",
|
| 256 |
+
"xfrc_applied_robot0_link3_force_z",
|
| 257 |
+
"xfrc_applied_robot0_link3_torque_x",
|
| 258 |
+
"xfrc_applied_robot0_link3_torque_y",
|
| 259 |
+
"xfrc_applied_robot0_link3_torque_z",
|
| 260 |
+
"xfrc_applied_robot0_link4_force_x",
|
| 261 |
+
"xfrc_applied_robot0_link4_force_y",
|
| 262 |
+
"xfrc_applied_robot0_link4_force_z",
|
| 263 |
+
"xfrc_applied_robot0_link4_torque_x",
|
| 264 |
+
"xfrc_applied_robot0_link4_torque_y",
|
| 265 |
+
"xfrc_applied_robot0_link4_torque_z",
|
| 266 |
+
"xfrc_applied_robot0_link5_force_x",
|
| 267 |
+
"xfrc_applied_robot0_link5_force_y",
|
| 268 |
+
"xfrc_applied_robot0_link5_force_z",
|
| 269 |
+
"xfrc_applied_robot0_link5_torque_x",
|
| 270 |
+
"xfrc_applied_robot0_link5_torque_y",
|
| 271 |
+
"xfrc_applied_robot0_link5_torque_z",
|
| 272 |
+
"xfrc_applied_robot0_link6_force_x",
|
| 273 |
+
"xfrc_applied_robot0_link6_force_y",
|
| 274 |
+
"xfrc_applied_robot0_link6_force_z",
|
| 275 |
+
"xfrc_applied_robot0_link6_torque_x",
|
| 276 |
+
"xfrc_applied_robot0_link6_torque_y",
|
| 277 |
+
"xfrc_applied_robot0_link6_torque_z",
|
| 278 |
+
"xfrc_applied_robot0_link7_force_x",
|
| 279 |
+
"xfrc_applied_robot0_link7_force_y",
|
| 280 |
+
"xfrc_applied_robot0_link7_force_z",
|
| 281 |
+
"xfrc_applied_robot0_link7_torque_x",
|
| 282 |
+
"xfrc_applied_robot0_link7_torque_y",
|
| 283 |
+
"xfrc_applied_robot0_link7_torque_z",
|
| 284 |
+
"xfrc_applied_robot0_right_hand_force_x",
|
| 285 |
+
"xfrc_applied_robot0_right_hand_force_y",
|
| 286 |
+
"xfrc_applied_robot0_right_hand_force_z",
|
| 287 |
+
"xfrc_applied_robot0_right_hand_torque_x",
|
| 288 |
+
"xfrc_applied_robot0_right_hand_torque_y",
|
| 289 |
+
"xfrc_applied_robot0_right_hand_torque_z",
|
| 290 |
+
"xfrc_applied_gripper0_right_right_gripper_force_x",
|
| 291 |
+
"xfrc_applied_gripper0_right_right_gripper_force_y",
|
| 292 |
+
"xfrc_applied_gripper0_right_right_gripper_force_z",
|
| 293 |
+
"xfrc_applied_gripper0_right_right_gripper_torque_x",
|
| 294 |
+
"xfrc_applied_gripper0_right_right_gripper_torque_y",
|
| 295 |
+
"xfrc_applied_gripper0_right_right_gripper_torque_z",
|
| 296 |
+
"xfrc_applied_gripper0_right_eef_force_x",
|
| 297 |
+
"xfrc_applied_gripper0_right_eef_force_y",
|
| 298 |
+
"xfrc_applied_gripper0_right_eef_force_z",
|
| 299 |
+
"xfrc_applied_gripper0_right_eef_torque_x",
|
| 300 |
+
"xfrc_applied_gripper0_right_eef_torque_y",
|
| 301 |
+
"xfrc_applied_gripper0_right_eef_torque_z",
|
| 302 |
+
"xfrc_applied_gripper0_right_leftfinger_force_x",
|
| 303 |
+
"xfrc_applied_gripper0_right_leftfinger_force_y",
|
| 304 |
+
"xfrc_applied_gripper0_right_leftfinger_force_z",
|
| 305 |
+
"xfrc_applied_gripper0_right_leftfinger_torque_x",
|
| 306 |
+
"xfrc_applied_gripper0_right_leftfinger_torque_y",
|
| 307 |
+
"xfrc_applied_gripper0_right_leftfinger_torque_z",
|
| 308 |
+
"xfrc_applied_gripper0_right_finger_joint1_tip_force_x",
|
| 309 |
+
"xfrc_applied_gripper0_right_finger_joint1_tip_force_y",
|
| 310 |
+
"xfrc_applied_gripper0_right_finger_joint1_tip_force_z",
|
| 311 |
+
"xfrc_applied_gripper0_right_finger_joint1_tip_torque_x",
|
| 312 |
+
"xfrc_applied_gripper0_right_finger_joint1_tip_torque_y",
|
| 313 |
+
"xfrc_applied_gripper0_right_finger_joint1_tip_torque_z",
|
| 314 |
+
"xfrc_applied_gripper0_right_rightfinger_force_x",
|
| 315 |
+
"xfrc_applied_gripper0_right_rightfinger_force_y",
|
| 316 |
+
"xfrc_applied_gripper0_right_rightfinger_force_z",
|
| 317 |
+
"xfrc_applied_gripper0_right_rightfinger_torque_x",
|
| 318 |
+
"xfrc_applied_gripper0_right_rightfinger_torque_y",
|
| 319 |
+
"xfrc_applied_gripper0_right_rightfinger_torque_z",
|
| 320 |
+
"xfrc_applied_gripper0_right_finger_joint2_tip_force_x",
|
| 321 |
+
"xfrc_applied_gripper0_right_finger_joint2_tip_force_y",
|
| 322 |
+
"xfrc_applied_gripper0_right_finger_joint2_tip_force_z",
|
| 323 |
+
"xfrc_applied_gripper0_right_finger_joint2_tip_torque_x",
|
| 324 |
+
"xfrc_applied_gripper0_right_finger_joint2_tip_torque_y",
|
| 325 |
+
"xfrc_applied_gripper0_right_finger_joint2_tip_torque_z",
|
| 326 |
+
"xfrc_applied_fixed_mount0_base_force_x",
|
| 327 |
+
"xfrc_applied_fixed_mount0_base_force_y",
|
| 328 |
+
"xfrc_applied_fixed_mount0_base_force_z",
|
| 329 |
+
"xfrc_applied_fixed_mount0_base_torque_x",
|
| 330 |
+
"xfrc_applied_fixed_mount0_base_torque_y",
|
| 331 |
+
"xfrc_applied_fixed_mount0_base_torque_z",
|
| 332 |
+
"xfrc_applied_fixed_mount0_controller_box_force_x",
|
| 333 |
+
"xfrc_applied_fixed_mount0_controller_box_force_y",
|
| 334 |
+
"xfrc_applied_fixed_mount0_controller_box_force_z",
|
| 335 |
+
"xfrc_applied_fixed_mount0_controller_box_torque_x",
|
| 336 |
+
"xfrc_applied_fixed_mount0_controller_box_torque_y",
|
| 337 |
+
"xfrc_applied_fixed_mount0_controller_box_torque_z",
|
| 338 |
+
"xfrc_applied_fixed_mount0_pedestal_feet_force_x",
|
| 339 |
+
"xfrc_applied_fixed_mount0_pedestal_feet_force_y",
|
| 340 |
+
"xfrc_applied_fixed_mount0_pedestal_feet_force_z",
|
| 341 |
+
"xfrc_applied_fixed_mount0_pedestal_feet_torque_x",
|
| 342 |
+
"xfrc_applied_fixed_mount0_pedestal_feet_torque_y",
|
| 343 |
+
"xfrc_applied_fixed_mount0_pedestal_feet_torque_z",
|
| 344 |
+
"xfrc_applied_fixed_mount0_torso_force_x",
|
| 345 |
+
"xfrc_applied_fixed_mount0_torso_force_y",
|
| 346 |
+
"xfrc_applied_fixed_mount0_torso_force_z",
|
| 347 |
+
"xfrc_applied_fixed_mount0_torso_torque_x",
|
| 348 |
+
"xfrc_applied_fixed_mount0_torso_torque_y",
|
| 349 |
+
"xfrc_applied_fixed_mount0_torso_torque_z",
|
| 350 |
+
"xfrc_applied_fixed_mount0_pedestal_force_x",
|
| 351 |
+
"xfrc_applied_fixed_mount0_pedestal_force_y",
|
| 352 |
+
"xfrc_applied_fixed_mount0_pedestal_force_z",
|
| 353 |
+
"xfrc_applied_fixed_mount0_pedestal_torque_x",
|
| 354 |
+
"xfrc_applied_fixed_mount0_pedestal_torque_y",
|
| 355 |
+
"xfrc_applied_fixed_mount0_pedestal_torque_z",
|
| 356 |
+
"xfrc_applied_red_cube_main_force_x",
|
| 357 |
+
"xfrc_applied_red_cube_main_force_y",
|
| 358 |
+
"xfrc_applied_red_cube_main_force_z",
|
| 359 |
+
"xfrc_applied_red_cube_main_torque_x",
|
| 360 |
+
"xfrc_applied_red_cube_main_torque_y",
|
| 361 |
+
"xfrc_applied_red_cube_main_torque_z",
|
| 362 |
+
"xfrc_applied_blue_cube_main_force_x",
|
| 363 |
+
"xfrc_applied_blue_cube_main_force_y",
|
| 364 |
+
"xfrc_applied_blue_cube_main_force_z",
|
| 365 |
+
"xfrc_applied_blue_cube_main_torque_x",
|
| 366 |
+
"xfrc_applied_blue_cube_main_torque_y",
|
| 367 |
+
"xfrc_applied_blue_cube_main_torque_z",
|
| 368 |
+
"xfrc_applied_green_cube_main_force_x",
|
| 369 |
+
"xfrc_applied_green_cube_main_force_y",
|
| 370 |
+
"xfrc_applied_green_cube_main_force_z",
|
| 371 |
+
"xfrc_applied_green_cube_main_torque_x",
|
| 372 |
+
"xfrc_applied_green_cube_main_torque_y",
|
| 373 |
+
"xfrc_applied_green_cube_main_torque_z",
|
| 374 |
+
"mocap_left_eef_target_position_x",
|
| 375 |
+
"mocap_left_eef_target_position_y",
|
| 376 |
+
"mocap_left_eef_target_position_z",
|
| 377 |
+
"mocap_right_eef_target_position_x",
|
| 378 |
+
"mocap_right_eef_target_position_y",
|
| 379 |
+
"mocap_right_eef_target_position_z",
|
| 380 |
+
"mocap_left_eef_target_quaternion_w",
|
| 381 |
+
"mocap_left_eef_target_quaternion_x",
|
| 382 |
+
"mocap_left_eef_target_quaternion_y",
|
| 383 |
+
"mocap_left_eef_target_quaternion_z",
|
| 384 |
+
"mocap_right_eef_target_quaternion_w",
|
| 385 |
+
"mocap_right_eef_target_quaternion_x",
|
| 386 |
+
"mocap_right_eef_target_quaternion_y",
|
| 387 |
+
"mocap_right_eef_target_quaternion_z",
|
| 388 |
+
"controller_robot0_right_initial_joint_robot0_joint1",
|
| 389 |
+
"controller_robot0_right_initial_joint_robot0_joint2",
|
| 390 |
+
"controller_robot0_right_initial_joint_robot0_joint3",
|
| 391 |
+
"controller_robot0_right_initial_joint_robot0_joint4",
|
| 392 |
+
"controller_robot0_right_initial_joint_robot0_joint5",
|
| 393 |
+
"controller_robot0_right_initial_joint_robot0_joint6",
|
| 394 |
+
"controller_robot0_right_initial_joint_robot0_joint7",
|
| 395 |
+
"controller_robot0_right_gripper_initial_joint_joint_0",
|
| 396 |
+
"controller_robot0_right_gripper_initial_joint_joint_1",
|
| 397 |
+
"gripper_robot0_right_current_action_0",
|
| 398 |
+
"gripper_robot0_right_current_action_1"
|
| 399 |
+
]
|
| 400 |
+
},
|
| 401 |
+
"action": {
|
| 402 |
+
"dtype": "float32",
|
| 403 |
+
"shape": [
|
| 404 |
+
7
|
| 405 |
+
],
|
| 406 |
+
"names": [
|
| 407 |
+
"normalized_ee_position_delta_x",
|
| 408 |
+
"normalized_ee_position_delta_y",
|
| 409 |
+
"normalized_ee_position_delta_z",
|
| 410 |
+
"normalized_ee_rotation_delta_x",
|
| 411 |
+
"normalized_ee_rotation_delta_y",
|
| 412 |
+
"normalized_ee_rotation_delta_z",
|
| 413 |
+
"normalized_gripper_command"
|
| 414 |
+
]
|
| 415 |
+
},
|
| 416 |
+
"timestamp": {
|
| 417 |
+
"dtype": "float32",
|
| 418 |
+
"shape": [
|
| 419 |
+
1
|
| 420 |
+
],
|
| 421 |
+
"names": null
|
| 422 |
+
},
|
| 423 |
+
"frame_index": {
|
| 424 |
+
"dtype": "int64",
|
| 425 |
+
"shape": [
|
| 426 |
+
1
|
| 427 |
+
],
|
| 428 |
+
"names": null
|
| 429 |
+
},
|
| 430 |
+
"episode_index": {
|
| 431 |
+
"dtype": "int64",
|
| 432 |
+
"shape": [
|
| 433 |
+
1
|
| 434 |
+
],
|
| 435 |
+
"names": null
|
| 436 |
+
},
|
| 437 |
+
"index": {
|
| 438 |
+
"dtype": "int64",
|
| 439 |
+
"shape": [
|
| 440 |
+
1
|
| 441 |
+
],
|
| 442 |
+
"names": null
|
| 443 |
+
},
|
| 444 |
+
"task_index": {
|
| 445 |
+
"dtype": "int64",
|
| 446 |
+
"shape": [
|
| 447 |
+
1
|
| 448 |
+
],
|
| 449 |
+
"names": null
|
| 450 |
+
}
|
| 451 |
+
},
|
| 452 |
+
"total_episodes": 3150,
|
| 453 |
+
"total_frames": 149569,
|
| 454 |
+
"total_tasks": 9,
|
| 455 |
+
"chunks_size": 1000,
|
| 456 |
+
"data_files_size_in_mb": 100,
|
| 457 |
+
"video_files_size_in_mb": 200,
|
| 458 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 459 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 460 |
+
"robot_type": "panda",
|
| 461 |
+
"splits": {
|
| 462 |
+
"train": "0:3150"
|
| 463 |
+
}
|
| 464 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,3508 @@
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