| { |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "field_descriptions": { |
| "action/end/orientation": { |
| "description": "左右手臂末端期望姿态（XYZ+臂形角），shape (2,4)", |
| "dimensions": 8, |
| "indices": [ |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15 |
| ] |
| }, |
| "action/end/position": { |
| "description": "左右手臂末端期望位置（m），shape (2,3)", |
| "dimensions": 6, |
| "indices": [ |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7 |
| ] |
| }, |
| "action/head/position": { |
| "description": "头部关节期望角度（弧度），[joint_head_yaw, joint_head_pitch]", |
| "dimensions": 3, |
| "indices": [ |
| 30, |
| 31, |
| 32 |
| ] |
| }, |
| "action/joint/position": { |
| "description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧", |
| "dimensions": 14, |
| "indices": [ |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29 |
| ] |
| }, |
| "action/left_effector/position": { |
| "description": "左执行器期望行程值/关节角度，夹爪需归一化处理", |
| "dimensions": 1, |
| "indices": [ |
| 0 |
| ] |
| }, |
| "action/left_refpose/orientation": { |
| "description": "左臂参考姿态", |
| "dimensions": 4, |
| "indices": [ |
| 44, |
| 45, |
| 46, |
| 47 |
| ] |
| }, |
| "action/right_effector/position": { |
| "description": "右执行器期望行程值/关节角度，夹爪需归一化处理", |
| "dimensions": 1, |
| "indices": [ |
| 1 |
| ] |
| }, |
| "action/right_refpose/orientation": { |
| "description": "右臂参考姿态", |
| "dimensions": 4, |
| "indices": [ |
| 48, |
| 49, |
| 50, |
| 51 |
| ] |
| }, |
| "action/robot/velocity": { |
| "description": "底盘期望速度，odom 坐标系，[线速度, 角速度]，size of 2", |
| "dimensions": 6, |
| "indices": [ |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43 |
| ] |
| }, |
| "action/waist/position": { |
| "description": "腰部关节期望角度（弧度），[joint_lift_body, joint_body_pitch]", |
| "dimensions": 5, |
| "indices": [ |
| 33, |
| 34, |
| 35, |
| 36, |
| 37 |
| ] |
| } |
| }, |
| "shape": [ |
| 52 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "field_descriptions": { |
| "extrinsic_end_T_hand_left_rgbd_aligned/rotation_matrix": { |
| "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐", |
| "dimensions": 9, |
| "indices": [ |
| 136, |
| 137, |
| 138, |
| 139, |
| 140, |
| 141, |
| 142, |
| 143, |
| 144 |
| ] |
| }, |
| "extrinsic_end_T_hand_left_rgbd_aligned/translation_vector": { |
| "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐", |
| "dimensions": 3, |
| "indices": [ |
| 190, |
| 191, |
| 192 |
| ] |
| }, |
| "extrinsic_end_T_hand_right_rgbd_aligned/rotation_matrix": { |
| "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐", |
| "dimensions": 9, |
| "indices": [ |
| 145, |
| 146, |
| 147, |
| 148, |
| 149, |
| 150, |
| 151, |
| 152, |
| 153 |
| ] |
| }, |
| "extrinsic_end_T_hand_right_rgbd_aligned/translation_vector": { |
| "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参平移向量（m），逐帧对齐", |
| "dimensions": 3, |
| "indices": [ |
| 193, |
| 194, |
| 195 |
| ] |
| }, |
| "extrinsic_end_T_head_back_fisheye_aligned/rotation_matrix": { |
| "description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐", |
| "dimensions": 9, |
| "indices": [ |
| 181, |
| 182, |
| 183, |
| 184, |
| 185, |
| 186, |
| 187, |
| 188, |
| 189 |
| ] |
| }, |
| "extrinsic_end_T_head_back_fisheye_aligned/translation_vector": { |
| "description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐", |
| "dimensions": 3, |
| "indices": [ |
| 205, |
| 206, |
| 207 |
| ] |
| }, |
| "extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": { |
| "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐", |
| "dimensions": 9, |
| "indices": [ |
| 172, |
| 173, |
| 174, |
| 175, |
| 176, |
| 177, |
| 178, |
| 179, |
| 180 |
| ] |
| }, |
| "extrinsic_end_T_head_front_rgbd_aligned/translation_vector": { |
| "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐", |
| "dimensions": 3, |
| "indices": [ |
| 202, |
| 203, |
| 204 |
| ] |
| }, |
| "extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": { |
| "description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐", |
| "dimensions": 9, |
| "indices": [ |
| 154, |
| 155, |
| 156, |
| 157, |
| 158, |
| 159, |
| 160, |
| 161, |
| 162 |
| ] |
| }, |
| "extrinsic_end_T_head_left_fisheye_aligned/translation_vector": { |
| "description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐", |
| "dimensions": 3, |
| "indices": [ |
| 196, |
| 197, |
| 198 |
| ] |
| }, |
| "extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": { |
| "description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐", |
| "dimensions": 9, |
| "indices": [ |
| 163, |
| 164, |
| 165, |
| 166, |
| 167, |
| 168, |
| 169, |
| 170, |
| 171 |
| ] |
| }, |
| "extrinsic_end_T_head_right_fisheye_aligned/translation_vector": { |
| "description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐", |
| "dimensions": 3, |
| "indices": [ |
| 199, |
| 200, |
| 201 |
| ] |
| }, |
| "state/end/arm_orientation": { |
| "description": "左右手臂末端在 arm_base_link 坐标系下的姿态（RPY 弧度或四元数）", |
| "dimensions": 8, |
| "indices": [ |
| 64, |
| 65, |
| 66, |
| 67, |
| 68, |
| 69, |
| 70, |
| 71 |
| ] |
| }, |
| "state/end/arm_position": { |
| "description": "左右手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)", |
| "dimensions": 6, |
| "indices": [ |
| 72, |
| 73, |
| 74, |
| 75, |
| 76, |
| 77 |
| ] |
| }, |
| "state/end/orientation": { |
| "description": "左右手臂末端姿态，四元数 XYZW，shape (2,4)", |
| "dimensions": 8, |
| "indices": [ |
| 56, |
| 57, |
| 58, |
| 59, |
| 60, |
| 61, |
| 62, |
| 63 |
| ] |
| }, |
| "state/end/position": { |
| "description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算", |
| "dimensions": 6, |
| "indices": [ |
| 26, |
| 27, |
| 28, |
| 29, |
| 30, |
| 31 |
| ] |
| }, |
| "state/end/velocity": { |
| "description": "左右手臂末端线速度（m/s），来自 MC frame_twists", |
| "dimensions": 24, |
| "indices": [ |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 49, |
| 50, |
| 51, |
| 52, |
| 53, |
| 54, |
| 55 |
| ] |
| }, |
| "state/end/wrench": { |
| "description": "左右手臂末端六维力/力矩，fx/fy/fz/mx/my/mz，size of 12", |
| "dimensions": 24, |
| "indices": [ |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25 |
| ] |
| }, |
| "state/head/position": { |
| "description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2", |
| "dimensions": 3, |
| "indices": [ |
| 120, |
| 121, |
| 122 |
| ] |
| }, |
| "state/joint/current_value": { |
| "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/joint/effort": { |
| "description": "左右臂关节力矩（Nm），来自 motor_states[:].effort", |
| "dimensions": 14, |
| "indices": [ |
| 92, |
| 93, |
| 94, |
| 95, |
| 96, |
| 97, |
| 98, |
| 99, |
| 100, |
| 101, |
| 102, |
| 103, |
| 104, |
| 105 |
| ] |
| }, |
| "state/joint/position": { |
| "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）", |
| "dimensions": 14, |
| "indices": [ |
| 78, |
| 79, |
| 80, |
| 81, |
| 82, |
| 83, |
| 84, |
| 85, |
| 86, |
| 87, |
| 88, |
| 89, |
| 90, |
| 91 |
| ] |
| }, |
| "state/joint/velocity": { |
| "description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity", |
| "dimensions": 14, |
| "indices": [ |
| 106, |
| 107, |
| 108, |
| 109, |
| 110, |
| 111, |
| 112, |
| 113, |
| 114, |
| 115, |
| 116, |
| 117, |
| 118, |
| 119 |
| ] |
| }, |
| "state/left_ee_force/cols": { |
| "description": "左手触觉传感器矩阵列数", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_ee_force/contact": { |
| "description": "左手触觉传感器接触状态", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_ee_force/controlled": { |
| "description": "左手触觉传感器是否处于受控状态", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_ee_force/err_code": { |
| "description": "左手触觉传感器错误码", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_ee_force/normal_force": { |
| "description": "左手触觉传感器法向力（N）", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_ee_force/resolution_x": { |
| "description": "左手触觉传感器 X 方向分辨率", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_ee_force/resolution_y": { |
| "description": "左手触觉传感器 Y 方向分辨率", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_ee_force/rows": { |
| "description": "左手触觉传感器矩阵行数", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_ee_force/shear_force_x": { |
| "description": "左手触觉传感器 X 方向剪切力（N）", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_ee_force/shear_force_y": { |
| "description": "左手触觉传感器 Y 方向剪切力（N）", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_ee_force/valid": { |
| "description": "左手触觉传感器数据有效标志", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_effector/position": { |
| "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制", |
| "dimensions": 1, |
| "indices": [ |
| 0 |
| ] |
| }, |
| "state/left_vr_button/axis_click": { |
| "description": "左手 VR 手柄摇杆按下状态，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_vr_button/axis_x": { |
| "description": "左手 VR 手柄摇杆 X 轴值，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_vr_button/axis_y": { |
| "description": "左手 VR 手柄摇杆 Y 轴值，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_vr_button/hand_trig": { |
| "description": "左手 VR 手柄握持扳机值，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_vr_button/index_trig": { |
| "description": "左手 VR 手柄食指扳机值，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_vr_button/key_one": { |
| "description": "左手 VR 手柄按键一状态，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/left_vr_button/key_two": { |
| "description": "左手 VR 手柄按键二状态，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/operator_event/action_src_status": { |
| "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）", |
| "dimensions": 1, |
| "indices": [ |
| 135 |
| ] |
| }, |
| "state/right_ee_force/cols": { |
| "description": "右手触觉传感器矩阵列数", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_ee_force/contact": { |
| "description": "右手触觉传感器接触状态", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_ee_force/controlled": { |
| "description": "右手触觉传感器是否处于受控状态", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_ee_force/err_code": { |
| "description": "右手触觉传感器错误码", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_ee_force/normal_force": { |
| "description": "右手触觉传感器法向力（N）", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_ee_force/resolution_x": { |
| "description": "右手触觉传感器 X 方向分辨率", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_ee_force/resolution_y": { |
| "description": "右手触觉传感器 Y 方向分辨率", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_ee_force/rows": { |
| "description": "右手触觉传感器矩阵行数", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_ee_force/shear_force_x": { |
| "description": "右手触觉传感器 X 方向剪切力（N）", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_ee_force/shear_force_y": { |
| "description": "右手触觉传感器 Y 方向剪切力（N）", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_ee_force/valid": { |
| "description": "右手触觉传感器数据有效标志", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_effector/position": { |
| "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制", |
| "dimensions": 1, |
| "indices": [ |
| 1 |
| ] |
| }, |
| "state/right_vr_button/axis_click": { |
| "description": "右手 VR 手柄摇杆按下状态，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_vr_button/axis_x": { |
| "description": "右手 VR 手柄摇杆 X 轴值，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_vr_button/axis_y": { |
| "description": "右手 VR 手柄摇杆 Y 轴值，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_vr_button/hand_trig": { |
| "description": "右手 VR 手柄握持扳机值，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_vr_button/index_trig": { |
| "description": "右手 VR 手柄食指扳机值，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_vr_button/key_one": { |
| "description": "右手 VR 手柄按键一状态，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/right_vr_button/key_two": { |
| "description": "右手 VR 手柄按键二状态，size of 1", |
| "dimensions": 0, |
| "indices": [] |
| }, |
| "state/robot/orientation": { |
| "description": "机体姿态，odom 坐标系，四元数，size of 4", |
| "dimensions": 4, |
| "indices": [ |
| 131, |
| 132, |
| 133, |
| 134 |
| ] |
| }, |
| "state/robot/position": { |
| "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）", |
| "dimensions": 3, |
| "indices": [ |
| 128, |
| 129, |
| 130 |
| ] |
| }, |
| "state/waist/position": { |
| "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2", |
| "dimensions": 5, |
| "indices": [ |
| 123, |
| 124, |
| 125, |
| 126, |
| 127 |
| ] |
| } |
| }, |
| "shape": [ |
| 208 |
| ] |
| } |
| }, |
| "observations": { |
| "hand_left": { |
| "availability": "initial frame only", |
| "color_space": "RGB", |
| "dtype": "uint8", |
| "encoding": "png" |
| }, |
| "hand_right": { |
| "availability": "initial frame only", |
| "color_space": "RGB", |
| "dtype": "uint8", |
| "encoding": "png" |
| }, |
| "top_head": { |
| "availability": "initial frame only", |
| "color_space": "RGB", |
| "dtype": "uint8", |
| "encoding": "png" |
| } |
| }, |
| "schema_version": "acwmbench.inference.v1", |
| "timeline": { |
| "fps": 30.0, |
| "frame_index": { |
| "dtype": "int64", |
| "origin": 0, |
| "step": 1 |
| }, |
| "timestamp": { |
| "definition": "frame_index / fps", |
| "dtype": "float32" |
| } |
| } |
| } |
|
|
