# Spatial Soft Pastry005 HDF5 Data Format

Dataset:

```text
/vepfs-C区/visuotactile/Tabero/formal_collections/spatial_soft_pastry005_10tasks_50each_gripperjitter_replay_format_20260624
```

## Overall Layout

There are 10 task HDF5 files:

```text
libero_spatial/libero_spatial_task*/replayed_demos/*_replayed_demo.hdf5
```

Each HDF5 has:

```text
/data/demo_0
/data/demo_1
...
/data/demo_49
```

So each task has 50 demos. The first dimension `T` below is the episode frame count and can vary across demos.

## Demo Attributes

Stored on each `/data/demo_*` group:

| Attribute | Meaning |
|---|---|
| `asset_name` | Soft object name, here `soft_pastry005`. |
| `demo_id` | New or collection-time demo id. |
| `original_demo_id` | Original script expert demo id. |
| `task_suite` | LIBERO suite, here `libero_spatial`. |
| `task_id` | Task id, `0..9`. |
| `soft_task_kind` | Soft collection task name, e.g. `libero_spatial_soft_task0`. |
| `task` | Isaac/Tabero environment id used during collection. |
| `language` | Natural-language instruction used for the demo. |
| `success` | Whether the script expert collection succeeded. |
| `failure_reason` | Failure reason if `success=False`; empty for success. |
| `num_frames` | Number of frames in this demo. |
| `num_samples` | Same frame/sample count used by replay-format tools. |
| `metadata_json` | Extra metadata, including `frames`, `gripper_close_norm`, `mode`, `place_in_target`. |
| `source_hdf5` | Raw source HDF5 path before replay-format assembly. |

## Action And Observation Fields

| Field | Shape | Dtype | Meaning |
|---|---:|---|---|
| `actions` | `(T, 13)` | `float32` | Training action aligned with replay format: `[x, y, z, axis_angle_x, axis_angle_y, axis_angle_z, gripper, force_left_x, force_left_y, force_left_z, force_right_x, force_right_y, force_right_z]`. This is the action OpenPI uses with `state = obs/eef_pose` and `delta = action - state` style preprocessing. Axis-angle branch was aligned to avoid `±pi` discontinuity. |
| `obs/actions` | `(T, 8)` | `float32` | Raw robot command before 13D conversion: `[x, y, z, quaternion(4), gripper]`. Mostly equivalent to `soft_extras/actions_raw`. |
| `obs/eef_pose` | `(T, 7)` | `float32` | End-effector state used as policy state: `[x, y, z, axis_angle_x, axis_angle_y, axis_angle_z, gripper]`. This is numerically aligned with `/actions` rotation convention. |
| `obs/arm_joint_pos` | `(T, 7)` | `float32` | Franka arm joint positions, arm joints only. |
| `obs/gripper_pos` | `(T, 2)` | `float32` | Two gripper finger joint positions. |
| `obs/gripper_width` | `(T,)` | `float32` | Scalar gripper opening width. |
| `obs/gripper_close_norm` | `(T,)` | `float32` | Normalized close value used by the script expert for pastry gripping. This records the gripper jitter value/process in normalized form. |
| `obs/gripper_net_force` | `(T, 1, 2, 3)` | `float32` | Net force observation for tactile/force policy input. The last two dimensions are left/right gripper side and 3D force vector. |
| `obs/gripper_marker_motion` | `(T, 2, 2, 99, 2)` | `float32` | Marker-motion tactile observation. It stores left/right tactile marker displacement fields; each marker has 2D image-plane motion. The `99` dimension is marker count. |
| `obs/fem_bbox_dims` | `(T, 3)` | `float32` | Soft pastry FEM bounding-box size over time, `[dx, dy, dz]`. Used for deformation/safety diagnostics. |
| `obs/fem_deformation_max` | `(T,)` | `float32` | Per-frame maximum FEM deformation metric for the soft pastry. Used by the safety check. |
| `obs/fem_deformation_rms` | `(T,)` | `float32` | Per-frame RMS FEM deformation metric for the soft pastry. Used by the safety check. |

## Soft Extras

These fields duplicate or preserve soft-specific collection signals in a separate namespace so replay-compatible common fields remain stable.

| Field | Shape | Dtype | Meaning |
|---|---:|---|---|
| `soft_extras/actions_13d` | `(T, 13)` | `float32` | Soft collection copy of the final 13D action. Should match `/actions`. |
| `soft_extras/actions_raw` | `(T, 8)` | `float32` | Raw 8D action before conversion to replay-style 13D. |
| `soft_extras/arm_joint_pos` | `(T, 7)` | `float32` | Soft collection copy of arm joint positions. |
| `soft_extras/gripper_width` | `(T,)` | `float32` | Soft collection copy of scalar gripper width. |
| `soft_extras/gripper_close_norm` | `(T,)` | `float32` | Soft collection copy of normalized close value. |
| `soft_extras/gripper_net_force` | `(T, 1, 2, 3)` | `float32` | Processed net force used for observation/training. |
| `soft_extras/gripper_net_force_raw` | `(T, 1, 2, 3)` | `float32` | Raw net force before any fallback/processing. |
| `soft_extras/gripper_net_force_source` | `(T,)` | `int8` | Source flag for net force values. Used to distinguish measured/raw/fallback force source. |
| `soft_extras/gripper_marker_motion` | `(T, 2, 2, 99, 2)` | `float32` | Soft collection copy of marker-motion tactile field. |
| `soft_extras/fem_bbox_dims` | `(T, 3)` | `float32` | Soft collection copy of FEM bbox dimensions. |
| `soft_extras/fem_deformation_max` | `(T,)` | `float32` | Soft collection copy of max deformation metric. |
| `soft_extras/fem_deformation_rms` | `(T,)` | `float32` | Soft collection copy of RMS deformation metric. |

## Dynamic State Fields

These fields store simulator state at every frame. Pose convention follows Isaac/Tabero root state convention: root pose is position plus quaternion, and root velocity is linear plus angular velocity.

### Robot And Articulations

| Field | Shape | Dtype | Meaning |
|---|---:|---|---|
| `states/articulation/robot/joint_position` | `(T, 9)` | `float32` | Robot articulation joint positions: 7 arm joints plus 2 gripper joints. |
| `states/articulation/robot/joint_velocity` | `(T, 9)` | `float32` | Robot articulation joint velocities. |
| `states/articulation/robot/root_pose` | `(T, 7)` | `float32` | Robot root pose. |
| `states/articulation/robot/root_velocity` | `(T, 6)` | `float32` | Robot root linear/angular velocity. |
| `states/articulation/flat_stove_1/joint_position` | `(T, 1)` | `float32` | Flat stove articulation joint position in the spatial scene. |
| `states/articulation/flat_stove_1/joint_velocity` | `(T, 1)` | `float32` | Flat stove articulation joint velocity. |
| `states/articulation/flat_stove_1/root_pose` | `(T, 7)` | `float32` | Flat stove root pose. |
| `states/articulation/flat_stove_1/root_velocity` | `(T, 6)` | `float32` | Flat stove root velocity. |
| `states/articulation/wooden_cabinet_1/joint_position` | `(T, 3)` | `float32` | Wooden cabinet articulation joint positions. |
| `states/articulation/wooden_cabinet_1/joint_velocity` | `(T, 3)` | `float32` | Wooden cabinet articulation joint velocities. |
| `states/articulation/wooden_cabinet_1/root_pose` | `(T, 7)` | `float32` | Wooden cabinet root pose. |
| `states/articulation/wooden_cabinet_1/root_velocity` | `(T, 6)` | `float32` | Wooden cabinet root velocity. |

### Deformable Object

| Field | Shape | Dtype | Meaning |
|---|---:|---|---|
| `states/deformable_object/soft_pastry005/root_pos_w` | `(T, 3)` | `float32` | Soft pastry root/world position. |
| `states/deformable_object/soft_pastry005/nodal_pos_w` | `(T, 115, 3)` | `float32` | FEM node world positions for the soft pastry. `115` is the number of FEM nodes in this asset. |
| `states/deformable_object/soft_pastry005/bbox_min_w` | `(T, 3)` | `float32` | World-space minimum corner of the pastry FEM bounding box. |
| `states/deformable_object/soft_pastry005/bbox_max_w` | `(T, 3)` | `float32` | World-space maximum corner of the pastry FEM bounding box. |

### Rigid Scene Objects

| Field | Shape | Dtype | Meaning |
|---|---:|---|---|
| `states/rigid_object/akita_black_bowl_1/root_pose` | `(T, 7)` | `float32` | Akita black bowl root pose in the spatial scene. |
| `states/rigid_object/akita_black_bowl_1/root_velocity` | `(T, 6)` | `float32` | Akita black bowl root velocity. |
| `states/rigid_object/cookies_1/root_pose` | `(T, 7)` | `float32` | Cookies object root pose. |
| `states/rigid_object/cookies_1/root_velocity` | `(T, 6)` | `float32` | Cookies object root velocity. |
| `states/rigid_object/glazed_rim_porcelain_ramekin_1/root_pose` | `(T, 7)` | `float32` | Ramekin root pose. |
| `states/rigid_object/glazed_rim_porcelain_ramekin_1/root_velocity` | `(T, 6)` | `float32` | Ramekin root velocity. |
| `states/rigid_object/plate_1/root_pose` | `(T, 7)` | `float32` | Plate root pose. |
| `states/rigid_object/plate_1/root_velocity` | `(T, 6)` | `float32` | Plate root velocity. |
| `states/rigid_object/soft_pastry005_tactile_proxy/root_pose` | `(T, 7)` | `float32` | Tiny rigid tactile proxy pose for the soft pastry. |
| `states/rigid_object/soft_pastry005_tactile_proxy/root_velocity` | `(T, 6)` | `float32` | Tiny rigid tactile proxy velocity. |

## Initial State Fields

`initial_state/*` mirrors `states/*`, but only stores the initial frame with shape first dimension `1`. These fields are used for reset/replay and for reproducing the starting scene.

### Robot And Articulations

| Field | Shape | Dtype | Meaning |
|---|---:|---|---|
| `initial_state/articulation/robot/joint_position` | `(1, 9)` | `float32` | Initial robot joint positions. |
| `initial_state/articulation/robot/joint_velocity` | `(1, 9)` | `float32` | Initial robot joint velocities. |
| `initial_state/articulation/robot/root_pose` | `(1, 7)` | `float32` | Initial robot root pose. |
| `initial_state/articulation/robot/root_velocity` | `(1, 6)` | `float32` | Initial robot root velocity. |
| `initial_state/articulation/flat_stove_1/joint_position` | `(1, 1)` | `float32` | Initial flat stove joint position. |
| `initial_state/articulation/flat_stove_1/joint_velocity` | `(1, 1)` | `float32` | Initial flat stove joint velocity. |
| `initial_state/articulation/flat_stove_1/root_pose` | `(1, 7)` | `float32` | Initial flat stove root pose. |
| `initial_state/articulation/flat_stove_1/root_velocity` | `(1, 6)` | `float32` | Initial flat stove root velocity. |
| `initial_state/articulation/wooden_cabinet_1/joint_position` | `(1, 3)` | `float32` | Initial wooden cabinet joint positions. |
| `initial_state/articulation/wooden_cabinet_1/joint_velocity` | `(1, 3)` | `float32` | Initial wooden cabinet joint velocities. |
| `initial_state/articulation/wooden_cabinet_1/root_pose` | `(1, 7)` | `float32` | Initial wooden cabinet root pose. |
| `initial_state/articulation/wooden_cabinet_1/root_velocity` | `(1, 6)` | `float32` | Initial wooden cabinet root velocity. |

### Deformable Object

| Field | Shape | Dtype | Meaning |
|---|---:|---|---|
| `initial_state/deformable_object/soft_pastry005/root_pos_w` | `(1, 3)` | `float32` | Initial soft pastry root/world position. |
| `initial_state/deformable_object/soft_pastry005/nodal_pos_w` | `(1, 115, 3)` | `float32` | Initial FEM node world positions. |
| `initial_state/deformable_object/soft_pastry005/bbox_min_w` | `(1, 3)` | `float32` | Initial pastry FEM bounding-box minimum corner. |
| `initial_state/deformable_object/soft_pastry005/bbox_max_w` | `(1, 3)` | `float32` | Initial pastry FEM bounding-box maximum corner. |

### Rigid Scene Objects

| Field | Shape | Dtype | Meaning |
|---|---:|---|---|
| `initial_state/rigid_object/akita_black_bowl_1/root_pose` | `(1, 7)` | `float32` | Initial Akita black bowl root pose. |
| `initial_state/rigid_object/akita_black_bowl_1/root_velocity` | `(1, 6)` | `float32` | Initial Akita black bowl root velocity. |
| `initial_state/rigid_object/cookies_1/root_pose` | `(1, 7)` | `float32` | Initial cookies object root pose. |
| `initial_state/rigid_object/cookies_1/root_velocity` | `(1, 6)` | `float32` | Initial cookies object root velocity. |
| `initial_state/rigid_object/glazed_rim_porcelain_ramekin_1/root_pose` | `(1, 7)` | `float32` | Initial ramekin root pose. |
| `initial_state/rigid_object/glazed_rim_porcelain_ramekin_1/root_velocity` | `(1, 6)` | `float32` | Initial ramekin root velocity. |
| `initial_state/rigid_object/plate_1/root_pose` | `(1, 7)` | `float32` | Initial plate root pose. |
| `initial_state/rigid_object/plate_1/root_velocity` | `(1, 6)` | `float32` | Initial plate root velocity. |
| `initial_state/rigid_object/soft_pastry005_tactile_proxy/root_pose` | `(1, 7)` | `float32` | Initial rigid tactile proxy root pose. |
| `initial_state/rigid_object/soft_pastry005_tactile_proxy/root_velocity` | `(1, 6)` | `float32` | Initial rigid tactile proxy root velocity. |

## Replay Alignment Notes

- Common replay-compatible training fields are preserved:
  - `actions`
  - `obs/actions`
  - `obs/eef_pose`
  - `obs/arm_joint_pos`
  - `obs/gripper_pos`
  - `states/*`
  - `initial_state/*`
- Soft-specific information is added without replacing common replay fields:
  - `obs/fem_*`
  - `soft_extras/*`
  - `states/deformable_object/soft_pastry005/*`
- `/actions` is the 13D training action. The rotation part is axis-angle and is branch-aligned with `obs/eef_pose` to avoid `action - state` producing artificial `2*pi` jumps.
- `obs/actions` and `soft_extras/actions_raw` preserve the original 8D absolute command form.

## Safety Fields

For safety evaluation, use:

```text
obs/fem_deformation_max
obs/fem_deformation_rms
obs/fem_bbox_dims
```

The current safety metric checks:

```text
safe = max(obs/fem_deformation_max) <= threshold_max
       AND max(obs/fem_deformation_rms) <= threshold_rms
```

The combined evaluation metric is:

```text
safe_success = success AND safe
```