| { |
| "codebase_version": "v3.0", |
| "fps": 30, |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 60 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.pos", |
| "left_hip_roll_joint.pos", |
| "left_hip_yaw_joint.pos", |
| "left_knee_joint.pos", |
| "left_ankle_pitch_joint.pos", |
| "left_ankle_roll_joint.pos", |
| "right_hip_pitch_joint.pos", |
| "right_hip_roll_joint.pos", |
| "right_hip_yaw_joint.pos", |
| "right_knee_joint.pos", |
| "right_ankle_pitch_joint.pos", |
| "right_ankle_roll_joint.pos", |
| "waist_yaw_joint.pos", |
| "waist_roll_joint.pos", |
| "waist_pitch_joint.pos", |
| "left_shoulder_pitch_joint.pos", |
| "left_shoulder_roll_joint.pos", |
| "left_shoulder_yaw_joint.pos", |
| "left_elbow_joint.pos", |
| "left_wrist_roll_joint.pos", |
| "left_wrist_pitch_joint.pos", |
| "left_wrist_yaw_joint.pos", |
| "right_shoulder_pitch_joint.pos", |
| "right_shoulder_roll_joint.pos", |
| "right_shoulder_yaw_joint.pos", |
| "right_elbow_joint.pos", |
| "right_wrist_roll_joint.pos", |
| "right_wrist_pitch_joint.pos", |
| "right_wrist_yaw_joint.pos", |
| "left_hip_pitch_joint.vel", |
| "left_hip_roll_joint.vel", |
| "left_hip_yaw_joint.vel", |
| "left_knee_joint.vel", |
| "left_ankle_pitch_joint.vel", |
| "left_ankle_roll_joint.vel", |
| "right_hip_pitch_joint.vel", |
| "right_hip_roll_joint.vel", |
| "right_hip_yaw_joint.vel", |
| "right_knee_joint.vel", |
| "right_ankle_pitch_joint.vel", |
| "right_ankle_roll_joint.vel", |
| "waist_yaw_joint.vel", |
| "waist_roll_joint.vel", |
| "waist_pitch_joint.vel", |
| "left_shoulder_pitch_joint.vel", |
| "left_shoulder_roll_joint.vel", |
| "left_shoulder_yaw_joint.vel", |
| "left_elbow_joint.vel", |
| "left_wrist_roll_joint.vel", |
| "left_wrist_pitch_joint.vel", |
| "left_wrist_yaw_joint.vel", |
| "right_shoulder_pitch_joint.vel", |
| "right_shoulder_roll_joint.vel", |
| "right_shoulder_yaw_joint.vel", |
| "right_elbow_joint.vel", |
| "right_wrist_roll_joint.vel", |
| "right_wrist_pitch_joint.vel", |
| "right_wrist_yaw_joint.vel", |
| "left_hand.aperture", |
| "right_hand.aperture" |
| ], |
| "units": [ |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "fraction 0..1", |
| "fraction 0..1" |
| ] |
| }, |
| "observation.imu.pelvis": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ], |
| "names": [ |
| "quat_w", |
| "quat_x", |
| "quat_y", |
| "quat_z", |
| "gyro_x", |
| "gyro_y", |
| "gyro_z", |
| "acc_x", |
| "acc_y", |
| "acc_z" |
| ], |
| "units": [ |
| "unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world", |
| "unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world", |
| "unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world", |
| "unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world", |
| "rad/s, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", |
| "rad/s, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", |
| "rad/s, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", |
| "m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", |
| "m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", |
| "m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate" |
| ] |
| }, |
| "observation.imu.chest": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ], |
| "names": [ |
| "quat_w", |
| "quat_x", |
| "quat_y", |
| "quat_z", |
| "gyro_x", |
| "gyro_y", |
| "gyro_z", |
| "acc_x", |
| "acc_y", |
| "acc_z" |
| ], |
| "units": [ |
| "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", |
| "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", |
| "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", |
| "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", |
| "rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", |
| "rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", |
| "rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", |
| "m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", |
| "m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", |
| "m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message" |
| ] |
| }, |
| "observation.effort": { |
| "dtype": "float32", |
| "shape": [ |
| 31 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.tau", |
| "left_hip_roll_joint.tau", |
| "left_hip_yaw_joint.tau", |
| "left_knee_joint.tau", |
| "left_ankle_pitch_joint.tau", |
| "left_ankle_roll_joint.tau", |
| "right_hip_pitch_joint.tau", |
| "right_hip_roll_joint.tau", |
| "right_hip_yaw_joint.tau", |
| "right_knee_joint.tau", |
| "right_ankle_pitch_joint.tau", |
| "right_ankle_roll_joint.tau", |
| "waist_yaw_joint.tau", |
| "waist_roll_joint.tau", |
| "waist_pitch_joint.tau", |
| "left_shoulder_pitch_joint.tau", |
| "left_shoulder_roll_joint.tau", |
| "left_shoulder_yaw_joint.tau", |
| "left_elbow_joint.tau", |
| "left_wrist_roll_joint.tau", |
| "left_wrist_pitch_joint.tau", |
| "left_wrist_yaw_joint.tau", |
| "right_shoulder_pitch_joint.tau", |
| "right_shoulder_roll_joint.tau", |
| "right_shoulder_yaw_joint.tau", |
| "right_elbow_joint.tau", |
| "right_wrist_roll_joint.tau", |
| "right_wrist_pitch_joint.tau", |
| "right_wrist_yaw_joint.tau", |
| "left_hand.tau", |
| "right_hand.tau" |
| ], |
| "units": [ |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m" |
| ] |
| }, |
| "observation.motor_temp": { |
| "dtype": "float32", |
| "shape": [ |
| 29 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.temp", |
| "left_hip_roll_joint.temp", |
| "left_hip_yaw_joint.temp", |
| "left_knee_joint.temp", |
| "left_ankle_pitch_joint.temp", |
| "left_ankle_roll_joint.temp", |
| "right_hip_pitch_joint.temp", |
| "right_hip_roll_joint.temp", |
| "right_hip_yaw_joint.temp", |
| "right_knee_joint.temp", |
| "right_ankle_pitch_joint.temp", |
| "right_ankle_roll_joint.temp", |
| "waist_yaw_joint.temp", |
| "waist_roll_joint.temp", |
| "waist_pitch_joint.temp", |
| "left_shoulder_pitch_joint.temp", |
| "left_shoulder_roll_joint.temp", |
| "left_shoulder_yaw_joint.temp", |
| "left_elbow_joint.temp", |
| "left_wrist_roll_joint.temp", |
| "left_wrist_pitch_joint.temp", |
| "left_wrist_yaw_joint.temp", |
| "right_shoulder_pitch_joint.temp", |
| "right_shoulder_roll_joint.temp", |
| "right_shoulder_yaw_joint.temp", |
| "right_elbow_joint.temp", |
| "right_wrist_roll_joint.temp", |
| "right_wrist_pitch_joint.temp", |
| "right_wrist_yaw_joint.temp" |
| ], |
| "units": [ |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC", |
| "degC" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 31 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.pos", |
| "left_hip_roll_joint.pos", |
| "left_hip_yaw_joint.pos", |
| "left_knee_joint.pos", |
| "left_ankle_pitch_joint.pos", |
| "left_ankle_roll_joint.pos", |
| "right_hip_pitch_joint.pos", |
| "right_hip_roll_joint.pos", |
| "right_hip_yaw_joint.pos", |
| "right_knee_joint.pos", |
| "right_ankle_pitch_joint.pos", |
| "right_ankle_roll_joint.pos", |
| "waist_yaw_joint.pos", |
| "waist_roll_joint.pos", |
| "waist_pitch_joint.pos", |
| "left_shoulder_pitch_joint.pos", |
| "left_shoulder_roll_joint.pos", |
| "left_shoulder_yaw_joint.pos", |
| "left_elbow_joint.pos", |
| "left_wrist_roll_joint.pos", |
| "left_wrist_pitch_joint.pos", |
| "left_wrist_yaw_joint.pos", |
| "right_shoulder_pitch_joint.pos", |
| "right_shoulder_roll_joint.pos", |
| "right_shoulder_yaw_joint.pos", |
| "right_elbow_joint.pos", |
| "right_wrist_roll_joint.pos", |
| "right_wrist_pitch_joint.pos", |
| "right_wrist_yaw_joint.pos", |
| "left_hand.aperture", |
| "right_hand.aperture" |
| ], |
| "units": [ |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "fraction 0..1", |
| "fraction 0..1" |
| ] |
| }, |
| "action.kp": { |
| "dtype": "float32", |
| "shape": [ |
| 29 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.kp", |
| "left_hip_roll_joint.kp", |
| "left_hip_yaw_joint.kp", |
| "left_knee_joint.kp", |
| "left_ankle_pitch_joint.kp", |
| "left_ankle_roll_joint.kp", |
| "right_hip_pitch_joint.kp", |
| "right_hip_roll_joint.kp", |
| "right_hip_yaw_joint.kp", |
| "right_knee_joint.kp", |
| "right_ankle_pitch_joint.kp", |
| "right_ankle_roll_joint.kp", |
| "waist_yaw_joint.kp", |
| "waist_roll_joint.kp", |
| "waist_pitch_joint.kp", |
| "left_shoulder_pitch_joint.kp", |
| "left_shoulder_roll_joint.kp", |
| "left_shoulder_yaw_joint.kp", |
| "left_elbow_joint.kp", |
| "left_wrist_roll_joint.kp", |
| "left_wrist_pitch_joint.kp", |
| "left_wrist_yaw_joint.kp", |
| "right_shoulder_pitch_joint.kp", |
| "right_shoulder_roll_joint.kp", |
| "right_shoulder_yaw_joint.kp", |
| "right_elbow_joint.kp", |
| "right_wrist_roll_joint.kp", |
| "right_wrist_pitch_joint.kp", |
| "right_wrist_yaw_joint.kp" |
| ], |
| "units": [ |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad", |
| "N*m/rad" |
| ] |
| }, |
| "action.kd": { |
| "dtype": "float32", |
| "shape": [ |
| 29 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.kd", |
| "left_hip_roll_joint.kd", |
| "left_hip_yaw_joint.kd", |
| "left_knee_joint.kd", |
| "left_ankle_pitch_joint.kd", |
| "left_ankle_roll_joint.kd", |
| "right_hip_pitch_joint.kd", |
| "right_hip_roll_joint.kd", |
| "right_hip_yaw_joint.kd", |
| "right_knee_joint.kd", |
| "right_ankle_pitch_joint.kd", |
| "right_ankle_roll_joint.kd", |
| "waist_yaw_joint.kd", |
| "waist_roll_joint.kd", |
| "waist_pitch_joint.kd", |
| "left_shoulder_pitch_joint.kd", |
| "left_shoulder_roll_joint.kd", |
| "left_shoulder_yaw_joint.kd", |
| "left_elbow_joint.kd", |
| "left_wrist_roll_joint.kd", |
| "left_wrist_pitch_joint.kd", |
| "left_wrist_yaw_joint.kd", |
| "right_shoulder_pitch_joint.kd", |
| "right_shoulder_roll_joint.kd", |
| "right_shoulder_yaw_joint.kd", |
| "right_elbow_joint.kd", |
| "right_wrist_roll_joint.kd", |
| "right_wrist_pitch_joint.kd", |
| "right_wrist_yaw_joint.kd" |
| ], |
| "units": [ |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad", |
| "N*m*s/rad" |
| ] |
| }, |
| "action.tau_ff": { |
| "dtype": "float32", |
| "shape": [ |
| 29 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.tau_ff", |
| "left_hip_roll_joint.tau_ff", |
| "left_hip_yaw_joint.tau_ff", |
| "left_knee_joint.tau_ff", |
| "left_ankle_pitch_joint.tau_ff", |
| "left_ankle_roll_joint.tau_ff", |
| "right_hip_pitch_joint.tau_ff", |
| "right_hip_roll_joint.tau_ff", |
| "right_hip_yaw_joint.tau_ff", |
| "right_knee_joint.tau_ff", |
| "right_ankle_pitch_joint.tau_ff", |
| "right_ankle_roll_joint.tau_ff", |
| "waist_yaw_joint.tau_ff", |
| "waist_roll_joint.tau_ff", |
| "waist_pitch_joint.tau_ff", |
| "left_shoulder_pitch_joint.tau_ff", |
| "left_shoulder_roll_joint.tau_ff", |
| "left_shoulder_yaw_joint.tau_ff", |
| "left_elbow_joint.tau_ff", |
| "left_wrist_roll_joint.tau_ff", |
| "left_wrist_pitch_joint.tau_ff", |
| "left_wrist_yaw_joint.tau_ff", |
| "right_shoulder_pitch_joint.tau_ff", |
| "right_shoulder_roll_joint.tau_ff", |
| "right_shoulder_yaw_joint.tau_ff", |
| "right_elbow_joint.tau_ff", |
| "right_wrist_roll_joint.tau_ff", |
| "right_wrist_pitch_joint.tau_ff", |
| "right_wrist_yaw_joint.tau_ff" |
| ], |
| "units": [ |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m", |
| "N*m" |
| ] |
| }, |
| "action.dq_target": { |
| "dtype": "float32", |
| "shape": [ |
| 29 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.dq_target", |
| "left_hip_roll_joint.dq_target", |
| "left_hip_yaw_joint.dq_target", |
| "left_knee_joint.dq_target", |
| "left_ankle_pitch_joint.dq_target", |
| "left_ankle_roll_joint.dq_target", |
| "right_hip_pitch_joint.dq_target", |
| "right_hip_roll_joint.dq_target", |
| "right_hip_yaw_joint.dq_target", |
| "right_knee_joint.dq_target", |
| "right_ankle_pitch_joint.dq_target", |
| "right_ankle_roll_joint.dq_target", |
| "waist_yaw_joint.dq_target", |
| "waist_roll_joint.dq_target", |
| "waist_pitch_joint.dq_target", |
| "left_shoulder_pitch_joint.dq_target", |
| "left_shoulder_roll_joint.dq_target", |
| "left_shoulder_yaw_joint.dq_target", |
| "left_elbow_joint.dq_target", |
| "left_wrist_roll_joint.dq_target", |
| "left_wrist_pitch_joint.dq_target", |
| "left_wrist_yaw_joint.dq_target", |
| "right_shoulder_pitch_joint.dq_target", |
| "right_shoulder_roll_joint.dq_target", |
| "right_shoulder_yaw_joint.dq_target", |
| "right_elbow_joint.dq_target", |
| "right_wrist_roll_joint.dq_target", |
| "right_wrist_pitch_joint.dq_target", |
| "right_wrist_yaw_joint.dq_target" |
| ], |
| "units": [ |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s" |
| ] |
| }, |
| "action.tau_requested": { |
| "dtype": "float32", |
| "shape": [ |
| 31 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.tau_requested", |
| "left_hip_roll_joint.tau_requested", |
| "left_hip_yaw_joint.tau_requested", |
| "left_knee_joint.tau_requested", |
| "left_ankle_pitch_joint.tau_requested", |
| "left_ankle_roll_joint.tau_requested", |
| "right_hip_pitch_joint.tau_requested", |
| "right_hip_roll_joint.tau_requested", |
| "right_hip_yaw_joint.tau_requested", |
| "right_knee_joint.tau_requested", |
| "right_ankle_pitch_joint.tau_requested", |
| "right_ankle_roll_joint.tau_requested", |
| "waist_yaw_joint.tau_requested", |
| "waist_roll_joint.tau_requested", |
| "waist_pitch_joint.tau_requested", |
| "left_shoulder_pitch_joint.tau_requested", |
| "left_shoulder_roll_joint.tau_requested", |
| "left_shoulder_yaw_joint.tau_requested", |
| "left_elbow_joint.tau_requested", |
| "left_wrist_roll_joint.tau_requested", |
| "left_wrist_pitch_joint.tau_requested", |
| "left_wrist_yaw_joint.tau_requested", |
| "right_shoulder_pitch_joint.tau_requested", |
| "right_shoulder_roll_joint.tau_requested", |
| "right_shoulder_yaw_joint.tau_requested", |
| "right_elbow_joint.tau_requested", |
| "right_wrist_roll_joint.tau_requested", |
| "right_wrist_pitch_joint.tau_requested", |
| "right_wrist_yaw_joint.tau_requested", |
| "left_hand.tau_requested", |
| "right_hand.tau_requested" |
| ], |
| "units": [ |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", |
| "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state" |
| ] |
| }, |
| "action.torque_cap": { |
| "dtype": "float32", |
| "shape": [ |
| 31 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.torque_cap", |
| "left_hip_roll_joint.torque_cap", |
| "left_hip_yaw_joint.torque_cap", |
| "left_knee_joint.torque_cap", |
| "left_ankle_pitch_joint.torque_cap", |
| "left_ankle_roll_joint.torque_cap", |
| "right_hip_pitch_joint.torque_cap", |
| "right_hip_roll_joint.torque_cap", |
| "right_hip_yaw_joint.torque_cap", |
| "right_knee_joint.torque_cap", |
| "right_ankle_pitch_joint.torque_cap", |
| "right_ankle_roll_joint.torque_cap", |
| "waist_yaw_joint.torque_cap", |
| "waist_roll_joint.torque_cap", |
| "waist_pitch_joint.torque_cap", |
| "left_shoulder_pitch_joint.torque_cap", |
| "left_shoulder_roll_joint.torque_cap", |
| "left_shoulder_yaw_joint.torque_cap", |
| "left_elbow_joint.torque_cap", |
| "left_wrist_roll_joint.torque_cap", |
| "left_wrist_pitch_joint.torque_cap", |
| "left_wrist_yaw_joint.torque_cap", |
| "right_shoulder_pitch_joint.torque_cap", |
| "right_shoulder_roll_joint.torque_cap", |
| "right_shoulder_yaw_joint.torque_cap", |
| "right_elbow_joint.torque_cap", |
| "right_wrist_roll_joint.torque_cap", |
| "right_wrist_pitch_joint.torque_cap", |
| "right_wrist_yaw_joint.torque_cap", |
| "left_hand.torque_cap", |
| "right_hand.torque_cap" |
| ], |
| "units": [ |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", |
| "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped" |
| ] |
| }, |
| "action.tau_commanded": { |
| "dtype": "float32", |
| "shape": [ |
| 31 |
| ], |
| "names": [ |
| "left_hip_pitch_joint.tau_commanded", |
| "left_hip_roll_joint.tau_commanded", |
| "left_hip_yaw_joint.tau_commanded", |
| "left_knee_joint.tau_commanded", |
| "left_ankle_pitch_joint.tau_commanded", |
| "left_ankle_roll_joint.tau_commanded", |
| "right_hip_pitch_joint.tau_commanded", |
| "right_hip_roll_joint.tau_commanded", |
| "right_hip_yaw_joint.tau_commanded", |
| "right_knee_joint.tau_commanded", |
| "right_ankle_pitch_joint.tau_commanded", |
| "right_ankle_roll_joint.tau_commanded", |
| "waist_yaw_joint.tau_commanded", |
| "waist_roll_joint.tau_commanded", |
| "waist_pitch_joint.tau_commanded", |
| "left_shoulder_pitch_joint.tau_commanded", |
| "left_shoulder_roll_joint.tau_commanded", |
| "left_shoulder_yaw_joint.tau_commanded", |
| "left_elbow_joint.tau_commanded", |
| "left_wrist_roll_joint.tau_commanded", |
| "left_wrist_pitch_joint.tau_commanded", |
| "left_wrist_yaw_joint.tau_commanded", |
| "right_shoulder_pitch_joint.tau_commanded", |
| "right_shoulder_roll_joint.tau_commanded", |
| "right_shoulder_yaw_joint.tau_commanded", |
| "right_elbow_joint.tau_commanded", |
| "right_wrist_roll_joint.tau_commanded", |
| "right_wrist_pitch_joint.tau_commanded", |
| "right_wrist_yaw_joint.tau_commanded", |
| "left_hand.tau_commanded", |
| "right_hand.tau_commanded" |
| ], |
| "units": [ |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", |
| "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state" |
| ] |
| }, |
| "observation.torque_budget": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "left_shoulder_pitch_joint.torque_budget", |
| "left_shoulder_roll_joint.torque_budget", |
| "left_shoulder_yaw_joint.torque_budget", |
| "left_elbow_joint.torque_budget", |
| "left_wrist_roll_joint.torque_budget", |
| "left_wrist_pitch_joint.torque_budget", |
| "left_wrist_yaw_joint.torque_budget", |
| "right_shoulder_pitch_joint.torque_budget", |
| "right_shoulder_roll_joint.torque_budget", |
| "right_shoulder_yaw_joint.torque_budget", |
| "right_elbow_joint.torque_budget", |
| "right_wrist_roll_joint.torque_budget", |
| "right_wrist_pitch_joint.torque_budget", |
| "right_wrist_yaw_joint.torque_budget", |
| "left_hand.torque_budget", |
| "right_hand.torque_budget" |
| ], |
| "units": [ |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state" |
| ] |
| }, |
| "action.torque_allowed": { |
| "dtype": "float32", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "left_shoulder_pitch_joint.torque_allowed", |
| "left_shoulder_roll_joint.torque_allowed", |
| "left_shoulder_yaw_joint.torque_allowed", |
| "left_elbow_joint.torque_allowed", |
| "left_wrist_roll_joint.torque_allowed", |
| "left_wrist_pitch_joint.torque_allowed", |
| "left_wrist_yaw_joint.torque_allowed", |
| "right_shoulder_pitch_joint.torque_allowed", |
| "right_shoulder_roll_joint.torque_allowed", |
| "right_shoulder_yaw_joint.torque_allowed", |
| "right_elbow_joint.torque_allowed", |
| "right_wrist_roll_joint.torque_allowed", |
| "right_wrist_pitch_joint.torque_allowed", |
| "right_wrist_yaw_joint.torque_allowed", |
| "left_hand.torque_allowed", |
| "right_hand.torque_allowed" |
| ], |
| "units": [ |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", |
| "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state" |
| ] |
| }, |
| "action.torque_limited": { |
| "dtype": "int64", |
| "shape": [ |
| 16 |
| ], |
| "names": [ |
| "left_shoulder_pitch_joint.torque_limited", |
| "left_shoulder_roll_joint.torque_limited", |
| "left_shoulder_yaw_joint.torque_limited", |
| "left_elbow_joint.torque_limited", |
| "left_wrist_roll_joint.torque_limited", |
| "left_wrist_pitch_joint.torque_limited", |
| "left_wrist_yaw_joint.torque_limited", |
| "right_shoulder_pitch_joint.torque_limited", |
| "right_shoulder_roll_joint.torque_limited", |
| "right_shoulder_yaw_joint.torque_limited", |
| "right_elbow_joint.torque_limited", |
| "right_wrist_roll_joint.torque_limited", |
| "right_wrist_pitch_joint.torque_limited", |
| "right_wrist_yaw_joint.torque_limited", |
| "left_hand.torque_limited", |
| "right_hand.torque_limited" |
| ], |
| "units": [ |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", |
| "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)" |
| ] |
| }, |
| "action.teleop": { |
| "dtype": "float32", |
| "shape": [ |
| 26 |
| ], |
| "names": [ |
| "left_wrist.x", |
| "left_wrist.y", |
| "left_wrist.z", |
| "left_wrist.qw", |
| "left_wrist.qx", |
| "left_wrist.qy", |
| "left_wrist.qz", |
| "right_wrist.x", |
| "right_wrist.y", |
| "right_wrist.z", |
| "right_wrist.qw", |
| "right_wrist.qx", |
| "right_wrist.qy", |
| "right_wrist.qz", |
| "vx", |
| "vy", |
| "yaw_rate", |
| "height_command", |
| "left_trigger", |
| "right_trigger", |
| "left_grip", |
| "right_grip", |
| "left_stick.x", |
| "left_stick.y", |
| "right_stick.x", |
| "right_stick.y" |
| ], |
| "units": [ |
| "m", |
| "m", |
| "m", |
| "unitless", |
| "unitless", |
| "unitless", |
| "unitless", |
| "m", |
| "m", |
| "m", |
| "unitless", |
| "unitless", |
| "unitless", |
| "unitless", |
| "m/s", |
| "m/s", |
| "rad/s", |
| "fraction 0..1, the operator's height slider after rate limiting: pelvis height target = 0.3 m + 0.44 m * value, 0 = crouched, 1 = standing", |
| "fraction 0..1", |
| "fraction 0..1", |
| "fraction 0..1", |
| "fraction 0..1", |
| "fraction -1..1, + = pushed right", |
| "fraction -1..1, + = pushed forward", |
| "fraction -1..1, + = pushed right", |
| "fraction -1..1, + = pushed forward" |
| ] |
| }, |
| "action.teleop.buttons": { |
| "dtype": "int64", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "right_a", |
| "right_b", |
| "left_x", |
| "left_y", |
| "left_menu", |
| "right_menu", |
| "left_stick_click", |
| "right_stick_click" |
| ], |
| "units": [ |
| "bool", |
| "bool", |
| "bool", |
| "bool", |
| "bool", |
| "bool", |
| "bool", |
| "bool" |
| ] |
| }, |
| "observation.teleop_active": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "units": [ |
| "bool" |
| ] |
| }, |
| "observation.frame_counter": { |
| "dtype": "float64", |
| "shape": [ |
| 12 |
| ], |
| "names": [ |
| "d435", |
| "d405_left", |
| "d405_left_ir1", |
| "d405_left_ir2", |
| "d405_right", |
| "d405_right_ir1", |
| "d405_right_ir2", |
| "d435_ir1", |
| "d435_ir2", |
| "d435_depth", |
| "d405_left_depth", |
| "d405_right_depth" |
| ], |
| "units": [ |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us, NaN on rows without a depth frame, see meta/depth.json row_mapping", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us, NaN on rows without a depth frame, see meta/depth.json row_mapping", |
| "count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us, NaN on rows without a depth frame, see meta/depth.json row_mapping" |
| ] |
| }, |
| "observation.sensor_ts_us": { |
| "dtype": "float64", |
| "shape": [ |
| 12 |
| ], |
| "names": [ |
| "d435", |
| "d405_left", |
| "d405_left_ir1", |
| "d405_left_ir2", |
| "d405_right", |
| "d405_right_ir1", |
| "d405_right_ir2", |
| "d435_ir1", |
| "d435_ir2", |
| "d435_depth", |
| "d405_left_depth", |
| "d405_right_depth" |
| ], |
| "units": [ |
| "us", |
| "us", |
| "us", |
| "us", |
| "us", |
| "us", |
| "us", |
| "us", |
| "us", |
| "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", |
| "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", |
| "us, NaN on rows without a depth frame, see meta/depth.json row_mapping" |
| ] |
| }, |
| "observation.row_time_us": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "units": [ |
| "us" |
| ] |
| }, |
| "observation.frame_offset_us": { |
| "dtype": "float64", |
| "shape": [ |
| 12 |
| ], |
| "names": [ |
| "d435", |
| "d405_left", |
| "d405_left_ir1", |
| "d405_left_ir2", |
| "d405_right", |
| "d405_right_ir1", |
| "d405_right_ir2", |
| "d435_ir1", |
| "d435_ir2", |
| "d435_depth", |
| "d405_left_depth", |
| "d405_right_depth" |
| ], |
| "units": [ |
| "us", |
| "us", |
| "us", |
| "us", |
| "us", |
| "us", |
| "us", |
| "us", |
| "us", |
| "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", |
| "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", |
| "us, NaN on rows without a depth frame, see meta/depth.json row_mapping" |
| ] |
| }, |
| "observation.control_offset_us": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "units": [ |
| "us" |
| ] |
| }, |
| "observation.images.d435": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 848, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_grayscale": false, |
| "video.g": 2, |
| "video.crf": null, |
| "video.preset": null, |
| "video.fast_decode": 0, |
| "video.encoder": "gstreamer-nvv4l2av1enc", |
| "video.extra_options": { |
| "ratecontrol-enable": false, |
| "quant-i-frames": 120, |
| "quant-p-frames": 120, |
| "source_format": "YUY2" |
| }, |
| "camera": { |
| "depth_visual_preset": "High Density", |
| "emitter_enabled": true, |
| "firmware": "5.15.1.55", |
| "format": "YUYV", |
| "frames_rotated_upright": false, |
| "intrinsics": { |
| "coeffs": [ |
| 0.0, |
| 0.0, |
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| "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", |
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| [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "to": "this stream", |
| "translation": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "translation_units": "meters" |
| }, |
| "model": "Intel RealSense D405", |
| "mount_rotation_deg": 180, |
| "recorded_fps": 30, |
| "serial": "260322277869", |
| "stereo_module_fps": 30, |
| "stream": "Infrared 1", |
| "timestamp_domain": "global_time_us", |
| "usb": "3.2" |
| }, |
| "video.height": 240, |
| "video.width": 424, |
| "video.channels": 3, |
| "video.fps": 30, |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.d405_right_ir2": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 424, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_grayscale": true, |
| "video.g": 2, |
| "video.crf": null, |
| "video.preset": null, |
| "video.fast_decode": 0, |
| "video.encoder": "gstreamer-nvv4l2av1enc", |
| "video.extra_options": { |
| "ratecontrol-enable": false, |
| "quant-i-frames": 120, |
| "quant-p-frames": 120, |
| "source_format": "GRAY8" |
| }, |
| "camera": { |
| "depth_visual_preset": "High Density", |
| "emitter_enabled": null, |
| "firmware": "5.15.1.55", |
| "format": "Y8", |
| "frames_rotated_upright": true, |
| "intrinsics": { |
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| 0.0, |
| 0.0, |
| -0.0, |
| -0.0, |
| 0.0 |
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| "fy": 215.798828125, |
| "height": 240, |
| "model": "Brown Conrady", |
| "ppx": 210.02273559570313, |
| "ppy": 119.7447738647461, |
| "width": 424 |
| }, |
| "ir1_to_robot": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
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| -0.5000042102057056, |
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| [ |
| -1.0, |
| 0.0, |
| 1.468247496825271e-17 |
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| [ |
| 1.468247496825271e-17, |
| -0.8660229730073958, |
| -0.5000042102057056 |
| ] |
| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", |
| "to": "right_dex1_base_link", |
| "translation": [ |
| 0.05839, |
| -0.0089995, |
| 0.05774 |
| ], |
| "translation_units": "meters" |
| }, |
| "ir1_to_stream": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
| 1.0, |
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| ], |
| [ |
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| ], |
| [ |
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| 1.0 |
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| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "to": "this stream", |
| "translation": [ |
| 0.01799909956753254, |
| 0.0, |
| 0.0 |
| ], |
| "translation_units": "meters" |
| }, |
| "model": "Intel RealSense D405", |
| "mount_rotation_deg": 180, |
| "recorded_fps": 30, |
| "serial": "260322277869", |
| "stereo_module_fps": 30, |
| "stream": "Infrared 2", |
| "timestamp_domain": "global_time_us", |
| "usb": "3.2" |
| }, |
| "video.height": 240, |
| "video.width": 424, |
| "video.channels": 3, |
| "video.fps": 30, |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.d435_ir1": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 848, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.codec": "av1", |
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| "video.is_grayscale": true, |
| "video.g": 2, |
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| "video.fast_decode": 0, |
| "video.encoder": "gstreamer-nvv4l2av1enc", |
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| "quant-i-frames": 120, |
| "quant-p-frames": 120, |
| "source_format": "GRAY8" |
| }, |
| "camera": { |
| "depth_visual_preset": "High Density", |
| "emitter_enabled": true, |
| "firmware": "5.15.1.55", |
| "format": "Y8", |
| "frames_rotated_upright": false, |
| "intrinsics": { |
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| 0.0, |
| 0.0, |
| 0.0 |
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| "fx": 427.509033203125, |
| "fy": 427.509033203125, |
| "height": 480, |
| "model": "Brown Conrady", |
| "ppx": 422.2849426269531, |
| "ppy": 236.32469177246094, |
| "width": 848 |
| }, |
| "ir1_to_robot": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
| -2.220446049250313e-16, |
| -0.7384553316173743, |
| 0.6743023974493004 |
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| [ |
| -1.0000000000000002, |
| 2.220446049250313e-16, |
| -1.0303904848204921e-17 |
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| [ |
| -1.0303904848204921e-17, |
| -0.6743023974493004, |
| -0.7384553316173741 |
| ] |
| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "source": "robot model, not measured: Unitree g1_29dof.urdf d435_joint, the head tilt set to match it, with IR1 25.04 mm to the left of the joint along the 50.09 mm IR1-to-IR2 baseline", |
| "to": "torso_link", |
| "translation": [ |
| 0.0576235, |
| 0.042573, |
| 0.41987 |
| ], |
| "translation_units": "meters" |
| }, |
| "ir1_to_stream": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
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| [ |
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| [ |
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| 1.0 |
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| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "to": "this stream", |
| "translation": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "translation_units": "meters" |
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| "model": "Intel RealSense D435I", |
| "mount_rotation_deg": 0, |
| "recorded_fps": 30, |
| "serial": "344422072211", |
| "stereo_module_fps": 90, |
| "stream": "Infrared 1", |
| "timestamp_domain": "global_time_us", |
| "usb": "3.2" |
| }, |
| "video.height": 480, |
| "video.width": 848, |
| "video.channels": 3, |
| "video.fps": 30, |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.d435_ir2": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 848, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.codec": "av1", |
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| "video.is_grayscale": true, |
| "video.g": 2, |
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| "video.preset": null, |
| "video.fast_decode": 0, |
| "video.encoder": "gstreamer-nvv4l2av1enc", |
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| "quant-i-frames": 120, |
| "quant-p-frames": 120, |
| "source_format": "GRAY8" |
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| "camera": { |
| "depth_visual_preset": "High Density", |
| "emitter_enabled": true, |
| "firmware": "5.15.1.55", |
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| "model": "Brown Conrady", |
| "ppx": 422.2849426269531, |
| "ppy": 236.32469177246094, |
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| "ir1_to_robot": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
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| -0.7384553316173743, |
| 0.6743023974493004 |
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| [ |
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| 2.220446049250313e-16, |
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| [ |
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| -0.6743023974493004, |
| -0.7384553316173741 |
| ] |
| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "source": "robot model, not measured: Unitree g1_29dof.urdf d435_joint, the head tilt set to match it, with IR1 25.04 mm to the left of the joint along the 50.09 mm IR1-to-IR2 baseline", |
| "to": "torso_link", |
| "translation": [ |
| 0.0576235, |
| 0.042573, |
| 0.41987 |
| ], |
| "translation_units": "meters" |
| }, |
| "ir1_to_stream": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
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| [ |
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| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "to": "this stream", |
| "translation": [ |
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| 0.0 |
| ], |
| "translation_units": "meters" |
| }, |
| "model": "Intel RealSense D435I", |
| "mount_rotation_deg": 0, |
| "recorded_fps": 30, |
| "serial": "344422072211", |
| "stereo_module_fps": 90, |
| "stream": "Infrared 2", |
| "timestamp_domain": "global_time_us", |
| "usb": "3.2" |
| }, |
| "video.height": 480, |
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| }, |
| "timestamp": { |
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| "frame_index": { |
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| "episode_index": { |
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| "index": { |
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| "task_index": { |
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| } |
| }, |
| "total_episodes": 1, |
| "total_frames": 2747, |
| "total_tasks": 1, |
| "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": "unitree_g1_29dof_dex1", |
| "splits": { |
| "train": "0:1" |
| } |
| } |
