{ "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, 0.0, 0.0, 0.0 ], "fx": 604.6974487304688, "fy": 604.4395141601563, "height": 480, "model": "Inverse Brown Conrady", "ppx": 429.3679504394531, "ppy": 241.97515869140625, "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 ], [ -1.0000000000000002, 2.220446049250313e-16, -1.0303904848204921e-17 ], [ -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": [ [ 0.9998977184295654, -0.012767679989337921, -0.006449446082115173 ], [ 0.012749895453453064, 0.999914824962616, -0.0027912240475416183 ], [ 0.006484534125775099, 0.0027087086346000433, 0.999975323677063 ] ], "rotation_layout": "row-major 3x3, rotation[row][col]", "to": "this stream", "translation": [ 0.015051440335810184, 0.0005301740602590144, 0.00039620933239348233 ], "translation_units": "meters" }, "model": "Intel RealSense D435I", "mount_rotation_deg": 0, "recorded_fps": 30, "serial": "344422072211", "stereo_module_fps": 90, "stream": "Color", "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.d405_left": { "dtype": "video", "shape": [ 240, 424, 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": null, "firmware": "5.15.1.55", "format": "YUYV", "frames_rotated_upright": false, "intrinsics": { "coeffs": [ -0.054188452661037445, 0.05881553888320923, -0.0003202924854122102, 0.00020088741439394653, -0.019861899316310883 ], "fx": 218.81365966796875, "fy": 218.15673828125, "height": 240, "model": "Inverse Brown Conrady", "ppx": 215.09109497070313, "ppy": 121.45121765136719, "width": 424 }, "ir1_to_robot": { "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_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": [ [ 0.0, -0.5000042102057056, 0.8660229730073958 ], [ -1.0, -0.0, -1.468247496825271e-17 ], [ -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": "left_dex1_base_link", "translation": [ 0.05839, 0.0090169, 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": [ [ 0.9999985098838806, -4.0820068534230813e-05, 0.0017188057536259294 ], [ 4.241080750944093e-05, 0.9999995827674866, -0.0009254640317521989 ], [ -0.0017187672201544046, 0.0009255355689674616, 0.9999980926513672 ] ], "rotation_layout": "row-major 3x3, rotation[row][col]", "to": "this stream", "translation": [ 9.99999883788405e-06, 9.999999747378752e-06, 1.0000000656873453e-05 ], "translation_units": "meters" }, "model": "Intel RealSense D405", "mount_rotation_deg": 0, "recorded_fps": 30, "serial": "260322273676", "stereo_module_fps": 30, "stream": "Color", "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_left_ir1": { "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": false, "intrinsics": { "coeffs": [ 0.0, 0.0, 0.0, 0.0, 0.0 ], "fx": 214.20974731445313, "fy": 214.20974731445313, "height": 240, "model": "Brown Conrady", "ppx": 214.87191772460938, "ppy": 120.27647399902344, "width": 424 }, "ir1_to_robot": { "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_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": [ [ 0.0, -0.5000042102057056, 0.8660229730073958 ], [ -1.0, -0.0, -1.468247496825271e-17 ], [ -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": "left_dex1_base_link", "translation": [ 0.05839, 0.0090169, 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, 0.0, 0.0 ], [ 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": 0, "recorded_fps": 30, "serial": "260322273676", "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_left_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": false, "intrinsics": { "coeffs": [ 0.0, 0.0, 0.0, 0.0, 0.0 ], "fx": 214.20974731445313, "fy": 214.20974731445313, "height": 240, "model": "Brown Conrady", "ppx": 214.87191772460938, "ppy": 120.27647399902344, "width": 424 }, "ir1_to_robot": { "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_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": [ [ 0.0, -0.5000042102057056, 0.8660229730073958 ], [ -1.0, -0.0, -1.468247496825271e-17 ], [ -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": "left_dex1_base_link", "translation": [ 0.05839, 0.0090169, 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 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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": null, "firmware": "5.15.1.55", "format": "YUYV", "frames_rotated_upright": true, "intrinsics": { "coeffs": [ -0.053430959582328796, 0.05783621594309807, 1.6788393622846343e-05, 0.00011876612552441657, -0.019358215853571892 ], "fx": 218.827392578125, "fy": 218.1957244873047, "height": 240, "model": "Inverse Brown Conrady", "ppx": 212.58233642578125, "ppy": 118.080322265625, "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": [ [ -0.0, -0.5000042102057056, 0.8660229730073958 ], [ -1.0, 0.0, 1.468247496825271e-17 ], [ 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": [ [ 0.9999870657920837, 0.002029627561569214, -0.004668358247727156 ], [ -0.002033582655712962, 0.9999975562095642, -0.0008426257409155369 ], [ 0.004666636697947979, 0.0008521082927472889, 0.9999887347221375 ] ], "rotation_layout": "row-major 3x3, rotation[row][col]", "to": "this stream", "translation": [ -1.0000000656873453e-05, -9.999999747378752e-06, -9.936374226526823e-06 ], "translation_units": "meters" }, "model": "Intel RealSense D405", "mount_rotation_deg": 180, "recorded_fps": 30, "serial": "260322277869", "stereo_module_fps": 30, "stream": "Color", "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_ir1": { "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": { "coeffs": [ 0.0, 0.0, -0.0, -0.0, 0.0 ], "fx": 215.798828125, "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": [ [ -0.0, -0.5000042102057056, 0.8660229730073958 ], [ -1.0, 0.0, 1.468247496825271e-17 ], [ 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, 0.0, 0.0 ], [ 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": { "coeffs": [ 0.0, 0.0, -0.0, -0.0, 0.0 ], "fx": 215.798828125, "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": [ [ -0.0, -0.5000042102057056, 0.8660229730073958 ], [ -1.0, 0.0, 1.468247496825271e-17 ], [ 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, 0.0, 0.0 ], [ 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 1.0 ] ], "rotation_layout": "row-major 3x3, rotation[row][col]", "to": "this stream", "translation": [ 0.01799909956753254, 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", "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": true, "firmware": "5.15.1.55", "format": "Y8", "frames_rotated_upright": false, "intrinsics": { "coeffs": [ 0.0, 0.0, 0.0, 0.0, 0.0 ], "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 ], [ -1.0000000000000002, 2.220446049250313e-16, -1.0303904848204921e-17 ], [ -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": [ [ 1.0, 0.0, 0.0 ], [ 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 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", "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": true, "firmware": "5.15.1.55", "format": "Y8", "frames_rotated_upright": false, "intrinsics": { "coeffs": [ 0.0, 0.0, 0.0, 0.0, 0.0 ], "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 ], [ -1.0000000000000002, 2.220446049250313e-16, -1.0303904848204921e-17 ], [ -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": [ [ 1.0, 0.0, 0.0 ], [ 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 1.0 ] ], "rotation_layout": "row-major 3x3, rotation[row][col]", "to": "this stream", "translation": [ -0.05008585751056671, 0.0, 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, "video.width": 848, "video.channels": 3, "video.fps": 30, "video.is_depth_map": false, "has_audio": false } }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null, "units": [ "s" ] }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "units": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "units": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null, "units": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "units": null } }, "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" } }