Copy training files to training-data (2001-3000 of 14204)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- training-data/real-world/full-shot/data/chunk-001/file-998.parquet +3 -0
- training-data/real-world/full-shot/data/chunk-001/file-999.parquet +3 -0
- training-data/real-world/full-shot/meta/episodes/chunk-000/file-000.parquet +3 -0
- training-data/real-world/full-shot/meta/info.json +1043 -0
- training-data/real-world/full-shot/meta/stats.json +3569 -0
- training-data/real-world/full-shot/meta/tasks.parquet +3 -0
- training-data/real-world/full-shot/provenance/conversion.json +33 -0
- training-data/real-world/full-shot/provenance/episode_mapping.json +0 -0
- training-data/real-world/full-shot/provenance/episodes.parquet +3 -0
- training-data/real-world/full-shot/provenance/tea-refresh-20261021.json +309 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-000.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-001.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-002.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-003.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-004.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-005.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-006.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-007.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-008.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-009.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-010.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-011.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-012.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-013.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-014.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-015.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-016.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-017.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-018.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-019.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-020.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-021.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-022.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-023.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-024.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-025.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-026.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-027.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-028.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-029.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-030.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-031.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-032.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-033.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-034.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-035.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-036.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-037.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-038.mp4 +3 -0
- training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-039.mp4 +3 -0
training-data/real-world/full-shot/data/chunk-001/file-998.parquet
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training-data/real-world/full-shot/meta/episodes/chunk-000/file-000.parquet
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training-data/real-world/full-shot/meta/info.json
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "G2A",
|
| 4 |
+
"chunks_size": 1000,
|
| 5 |
+
"data_files_size_in_mb": 100,
|
| 6 |
+
"video_files_size_in_mb": 200,
|
| 7 |
+
"fps": 30,
|
| 8 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 9 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 10 |
+
"features": {
|
| 11 |
+
"episode_index": {
|
| 12 |
+
"dtype": "int64",
|
| 13 |
+
"shape": [
|
| 14 |
+
1
|
| 15 |
+
],
|
| 16 |
+
"names": null
|
| 17 |
+
},
|
| 18 |
+
"frame_index": {
|
| 19 |
+
"dtype": "int64",
|
| 20 |
+
"shape": [
|
| 21 |
+
1
|
| 22 |
+
],
|
| 23 |
+
"names": null
|
| 24 |
+
},
|
| 25 |
+
"index": {
|
| 26 |
+
"dtype": "int64",
|
| 27 |
+
"shape": [
|
| 28 |
+
1
|
| 29 |
+
],
|
| 30 |
+
"names": null
|
| 31 |
+
},
|
| 32 |
+
"task_index": {
|
| 33 |
+
"dtype": "int64",
|
| 34 |
+
"shape": [
|
| 35 |
+
1
|
| 36 |
+
],
|
| 37 |
+
"names": null
|
| 38 |
+
},
|
| 39 |
+
"action": {
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"shape": [
|
| 42 |
+
52
|
| 43 |
+
],
|
| 44 |
+
"field_descriptions": {
|
| 45 |
+
"action/left_effector/position": {
|
| 46 |
+
"description": "左执行器期望开度/行程值，夹爪需归一化处理",
|
| 47 |
+
"dimensions": 1,
|
| 48 |
+
"indices": [
|
| 49 |
+
0
|
| 50 |
+
]
|
| 51 |
+
},
|
| 52 |
+
"action/right_effector/position": {
|
| 53 |
+
"description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
|
| 54 |
+
"dimensions": 1,
|
| 55 |
+
"indices": [
|
| 56 |
+
1
|
| 57 |
+
]
|
| 58 |
+
},
|
| 59 |
+
"action/end/position": {
|
| 60 |
+
"description": "手臂末端在 base_link 坐标系下的期望位置（m），shape (2,3)；来源为 action joint FK 计算（非遥操 wbc/retarget）",
|
| 61 |
+
"dimensions": 6,
|
| 62 |
+
"indices": [
|
| 63 |
+
2,
|
| 64 |
+
3,
|
| 65 |
+
4,
|
| 66 |
+
5,
|
| 67 |
+
6,
|
| 68 |
+
7
|
| 69 |
+
]
|
| 70 |
+
},
|
| 71 |
+
"action/end/orientation": {
|
| 72 |
+
"description": "手臂末端在 base_link 坐标系下的期望朝向，四元数 XYZW，shape (2,4)",
|
| 73 |
+
"dimensions": 8,
|
| 74 |
+
"indices": [
|
| 75 |
+
8,
|
| 76 |
+
9,
|
| 77 |
+
10,
|
| 78 |
+
11,
|
| 79 |
+
12,
|
| 80 |
+
13,
|
| 81 |
+
14,
|
| 82 |
+
15
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"action/end/arm_position": {
|
| 86 |
+
"description": "手臂末端在 arm_base_link 坐标系下的期望位置（m），shape (2,3)",
|
| 87 |
+
"dimensions": 0,
|
| 88 |
+
"indices": []
|
| 89 |
+
},
|
| 90 |
+
"action/end/arm_orientation": {
|
| 91 |
+
"description": "手臂末端在 arm_base_link 坐标系下的期望朝向，四元数 XYZW，shape (2,4)",
|
| 92 |
+
"dimensions": 0,
|
| 93 |
+
"indices": []
|
| 94 |
+
},
|
| 95 |
+
"action/end/arm_redundancy": {
|
| 96 |
+
"description": "手臂冗余自由度（臂形角），8D pose 的第 7、8 维，shape (2,2)",
|
| 97 |
+
"dimensions": 0,
|
| 98 |
+
"indices": []
|
| 99 |
+
},
|
| 100 |
+
"action/joint/position": {
|
| 101 |
+
"description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧",
|
| 102 |
+
"dimensions": 14,
|
| 103 |
+
"indices": [
|
| 104 |
+
16,
|
| 105 |
+
17,
|
| 106 |
+
18,
|
| 107 |
+
19,
|
| 108 |
+
20,
|
| 109 |
+
21,
|
| 110 |
+
22,
|
| 111 |
+
23,
|
| 112 |
+
24,
|
| 113 |
+
25,
|
| 114 |
+
26,
|
| 115 |
+
27,
|
| 116 |
+
28,
|
| 117 |
+
29
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"action/head/position": {
|
| 121 |
+
"description": "头部关节期望角度（弧度），G2 size of 3",
|
| 122 |
+
"dimensions": 3,
|
| 123 |
+
"indices": [
|
| 124 |
+
30,
|
| 125 |
+
31,
|
| 126 |
+
32
|
| 127 |
+
]
|
| 128 |
+
},
|
| 129 |
+
"action/head_pose/position": {
|
| 130 |
+
"description": "基于 joint action FK 计算得到的头部 pose 位置，base_link 下 head_link3 坐标（m），size of 3",
|
| 131 |
+
"dimensions": 0,
|
| 132 |
+
"indices": []
|
| 133 |
+
},
|
| 134 |
+
"action/head_pose/orientation": {
|
| 135 |
+
"description": "基于 joint action FK 计算得到的头部 pose 朝向，四元数，size of 4",
|
| 136 |
+
"dimensions": 0,
|
| 137 |
+
"indices": []
|
| 138 |
+
},
|
| 139 |
+
"action/waist/position": {
|
| 140 |
+
"description": "腰部关节期望角度（弧度），G2 size of 5",
|
| 141 |
+
"dimensions": 5,
|
| 142 |
+
"indices": [
|
| 143 |
+
33,
|
| 144 |
+
34,
|
| 145 |
+
35,
|
| 146 |
+
36,
|
| 147 |
+
37
|
| 148 |
+
]
|
| 149 |
+
},
|
| 150 |
+
"action/waist_pose/position": {
|
| 151 |
+
"description": "基于 joint action FK 计算得到的胸口 pose 位置，base_link 下 arm_base_link 坐标（m），size of 3",
|
| 152 |
+
"dimensions": 0,
|
| 153 |
+
"indices": []
|
| 154 |
+
},
|
| 155 |
+
"action/waist_pose/orientation": {
|
| 156 |
+
"description": "基于 joint action FK 计算得到的胸口 pose 朝向，四元数，size of 4",
|
| 157 |
+
"dimensions": 0,
|
| 158 |
+
"indices": []
|
| 159 |
+
},
|
| 160 |
+
"action/robot/velocity": {
|
| 161 |
+
"description": "底盘期望速度，1x6：XYZ 轴线速度 + XYZ 轴角速度",
|
| 162 |
+
"dimensions": 6,
|
| 163 |
+
"indices": [
|
| 164 |
+
38,
|
| 165 |
+
39,
|
| 166 |
+
40,
|
| 167 |
+
41,
|
| 168 |
+
42,
|
| 169 |
+
43
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"action/left_refpose/orientation": {
|
| 173 |
+
"description": "左手参考姿态四元数（大臂 arm_link3 相对 arm_base_link 的固定姿态）；原始映射 /wbc/retarget.retarget_groups[0].reference_frame_poses[0].orientation，按 (x,y,z,w)",
|
| 174 |
+
"dimensions": 4,
|
| 175 |
+
"indices": [
|
| 176 |
+
44,
|
| 177 |
+
45,
|
| 178 |
+
46,
|
| 179 |
+
47
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"action/right_refpose/orientation": {
|
| 183 |
+
"description": "右手参考姿态四元数；原始映射 /wbc/retarget.retarget_groups[1].reference_frame_poses[0].orientation，按 (x,y,z,w)",
|
| 184 |
+
"dimensions": 4,
|
| 185 |
+
"indices": [
|
| 186 |
+
48,
|
| 187 |
+
49,
|
| 188 |
+
50,
|
| 189 |
+
51
|
| 190 |
+
]
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"names": null
|
| 194 |
+
},
|
| 195 |
+
"observation.state": {
|
| 196 |
+
"dtype": "float32",
|
| 197 |
+
"shape": [
|
| 198 |
+
290
|
| 199 |
+
],
|
| 200 |
+
"field_descriptions": {
|
| 201 |
+
"state/left_effector/position": {
|
| 202 |
+
"description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
|
| 203 |
+
"dimensions": 1,
|
| 204 |
+
"indices": [
|
| 205 |
+
0
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
"state/right_effector/position": {
|
| 209 |
+
"description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
|
| 210 |
+
"dimensions": 1,
|
| 211 |
+
"indices": [
|
| 212 |
+
1
|
| 213 |
+
]
|
| 214 |
+
},
|
| 215 |
+
"state/end/wrench": {
|
| 216 |
+
"description": "左右手臂末端六维力/力矩，1x24：左臂/右臂在机械臂末端坐标系下六维力（3轴力+3轴力矩）+ 左臂/右臂在执行器末端坐标系下六维力（当前实际值与机械臂末端坐标系一致）",
|
| 217 |
+
"dimensions": 24,
|
| 218 |
+
"indices": [
|
| 219 |
+
2,
|
| 220 |
+
3,
|
| 221 |
+
4,
|
| 222 |
+
5,
|
| 223 |
+
6,
|
| 224 |
+
7,
|
| 225 |
+
8,
|
| 226 |
+
9,
|
| 227 |
+
10,
|
| 228 |
+
11,
|
| 229 |
+
12,
|
| 230 |
+
13,
|
| 231 |
+
14,
|
| 232 |
+
15,
|
| 233 |
+
16,
|
| 234 |
+
17,
|
| 235 |
+
18,
|
| 236 |
+
19,
|
| 237 |
+
20,
|
| 238 |
+
21,
|
| 239 |
+
22,
|
| 240 |
+
23,
|
| 241 |
+
24,
|
| 242 |
+
25
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"state/end/position": {
|
| 246 |
+
"description": "手臂末端在 base_link 坐标系下的位置（m），shape (2,3)",
|
| 247 |
+
"dimensions": 6,
|
| 248 |
+
"indices": [
|
| 249 |
+
26,
|
| 250 |
+
27,
|
| 251 |
+
28,
|
| 252 |
+
29,
|
| 253 |
+
30,
|
| 254 |
+
31
|
| 255 |
+
]
|
| 256 |
+
},
|
| 257 |
+
"state/end/velocity": {
|
| 258 |
+
"description": "左右手臂末端速度，1x24：左臂/右臂在机械臂末端坐标系下速度（3轴线速度+3轴角速度）+ 左臂/右臂在执行器末端坐标系下速度（当前实际值与机械臂末端坐标系一致）",
|
| 259 |
+
"dimensions": 24,
|
| 260 |
+
"indices": [
|
| 261 |
+
32,
|
| 262 |
+
33,
|
| 263 |
+
34,
|
| 264 |
+
35,
|
| 265 |
+
36,
|
| 266 |
+
37,
|
| 267 |
+
38,
|
| 268 |
+
39,
|
| 269 |
+
40,
|
| 270 |
+
41,
|
| 271 |
+
42,
|
| 272 |
+
43,
|
| 273 |
+
44,
|
| 274 |
+
45,
|
| 275 |
+
46,
|
| 276 |
+
47,
|
| 277 |
+
48,
|
| 278 |
+
49,
|
| 279 |
+
50,
|
| 280 |
+
51,
|
| 281 |
+
52,
|
| 282 |
+
53,
|
| 283 |
+
54,
|
| 284 |
+
55
|
| 285 |
+
]
|
| 286 |
+
},
|
| 287 |
+
"state/end/orientation": {
|
| 288 |
+
"description": "手臂末端在 base_link 坐标系下的朝向，四元数 XYZW，shape (2,4)",
|
| 289 |
+
"dimensions": 8,
|
| 290 |
+
"indices": [
|
| 291 |
+
56,
|
| 292 |
+
57,
|
| 293 |
+
58,
|
| 294 |
+
59,
|
| 295 |
+
60,
|
| 296 |
+
61,
|
| 297 |
+
62,
|
| 298 |
+
63
|
| 299 |
+
]
|
| 300 |
+
},
|
| 301 |
+
"state/end/arm_orientation": {
|
| 302 |
+
"description": "手臂末端在 arm_base_link 坐标系下的朝向，四元数 XYZW，shape (2,4)",
|
| 303 |
+
"dimensions": 8,
|
| 304 |
+
"indices": [
|
| 305 |
+
64,
|
| 306 |
+
65,
|
| 307 |
+
66,
|
| 308 |
+
67,
|
| 309 |
+
68,
|
| 310 |
+
69,
|
| 311 |
+
70,
|
| 312 |
+
71
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
"state/end/arm_position": {
|
| 316 |
+
"description": "手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
|
| 317 |
+
"dimensions": 6,
|
| 318 |
+
"indices": [
|
| 319 |
+
72,
|
| 320 |
+
73,
|
| 321 |
+
74,
|
| 322 |
+
75,
|
| 323 |
+
76,
|
| 324 |
+
77
|
| 325 |
+
]
|
| 326 |
+
},
|
| 327 |
+
"state/end/pose": {
|
| 328 |
+
"description": "完整末端在 base_link 坐标系下的位姿，1x28：2（手臂末端与执行器末端）× 2（双臂）×（3平移+4旋转）",
|
| 329 |
+
"dimensions": 28,
|
| 330 |
+
"indices": [
|
| 331 |
+
78,
|
| 332 |
+
79,
|
| 333 |
+
80,
|
| 334 |
+
81,
|
| 335 |
+
82,
|
| 336 |
+
83,
|
| 337 |
+
84,
|
| 338 |
+
85,
|
| 339 |
+
86,
|
| 340 |
+
87,
|
| 341 |
+
88,
|
| 342 |
+
89,
|
| 343 |
+
90,
|
| 344 |
+
91,
|
| 345 |
+
92,
|
| 346 |
+
93,
|
| 347 |
+
94,
|
| 348 |
+
95,
|
| 349 |
+
96,
|
| 350 |
+
97,
|
| 351 |
+
98,
|
| 352 |
+
99,
|
| 353 |
+
100,
|
| 354 |
+
101,
|
| 355 |
+
102,
|
| 356 |
+
103,
|
| 357 |
+
104,
|
| 358 |
+
105
|
| 359 |
+
]
|
| 360 |
+
},
|
| 361 |
+
"state/end/mode": {
|
| 362 |
+
"description": "手臂末端控制模式，size of 1",
|
| 363 |
+
"dimensions": 1,
|
| 364 |
+
"indices": [
|
| 365 |
+
106
|
| 366 |
+
]
|
| 367 |
+
},
|
| 368 |
+
"state/end/errcode": {
|
| 369 |
+
"description": "手臂末端错误码，size of 1",
|
| 370 |
+
"dimensions": 1,
|
| 371 |
+
"indices": [
|
| 372 |
+
107
|
| 373 |
+
]
|
| 374 |
+
},
|
| 375 |
+
"state/end/errmsg": {
|
| 376 |
+
"description": "手臂末端错误信息，size of 1",
|
| 377 |
+
"dimensions": 0,
|
| 378 |
+
"indices": []
|
| 379 |
+
},
|
| 380 |
+
"state/joint/position": {
|
| 381 |
+
"description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
|
| 382 |
+
"dimensions": 14,
|
| 383 |
+
"indices": [
|
| 384 |
+
108,
|
| 385 |
+
109,
|
| 386 |
+
110,
|
| 387 |
+
111,
|
| 388 |
+
112,
|
| 389 |
+
113,
|
| 390 |
+
114,
|
| 391 |
+
115,
|
| 392 |
+
116,
|
| 393 |
+
117,
|
| 394 |
+
118,
|
| 395 |
+
119,
|
| 396 |
+
120,
|
| 397 |
+
121
|
| 398 |
+
]
|
| 399 |
+
},
|
| 400 |
+
"state/joint/current_value": {
|
| 401 |
+
"description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
|
| 402 |
+
"dimensions": 0,
|
| 403 |
+
"indices": []
|
| 404 |
+
},
|
| 405 |
+
"state/joint/effort": {
|
| 406 |
+
"description": "左右臂每个关节实际的力矩（Nm），size of 14",
|
| 407 |
+
"dimensions": 14,
|
| 408 |
+
"indices": [
|
| 409 |
+
122,
|
| 410 |
+
123,
|
| 411 |
+
124,
|
| 412 |
+
125,
|
| 413 |
+
126,
|
| 414 |
+
127,
|
| 415 |
+
128,
|
| 416 |
+
129,
|
| 417 |
+
130,
|
| 418 |
+
131,
|
| 419 |
+
132,
|
| 420 |
+
133,
|
| 421 |
+
134,
|
| 422 |
+
135
|
| 423 |
+
]
|
| 424 |
+
},
|
| 425 |
+
"state/joint/velocity": {
|
| 426 |
+
"description": "左右臂关节速度（弧度/秒），size of 14",
|
| 427 |
+
"dimensions": 14,
|
| 428 |
+
"indices": [
|
| 429 |
+
136,
|
| 430 |
+
137,
|
| 431 |
+
138,
|
| 432 |
+
139,
|
| 433 |
+
140,
|
| 434 |
+
141,
|
| 435 |
+
142,
|
| 436 |
+
143,
|
| 437 |
+
144,
|
| 438 |
+
145,
|
| 439 |
+
146,
|
| 440 |
+
147,
|
| 441 |
+
148,
|
| 442 |
+
149
|
| 443 |
+
]
|
| 444 |
+
},
|
| 445 |
+
"state/joint/mode": {
|
| 446 |
+
"description": "左右臂关节模式，0=位控，1=力控，size of 14",
|
| 447 |
+
"dimensions": 14,
|
| 448 |
+
"indices": [
|
| 449 |
+
150,
|
| 450 |
+
151,
|
| 451 |
+
152,
|
| 452 |
+
153,
|
| 453 |
+
154,
|
| 454 |
+
155,
|
| 455 |
+
156,
|
| 456 |
+
157,
|
| 457 |
+
158,
|
| 458 |
+
159,
|
| 459 |
+
160,
|
| 460 |
+
161,
|
| 461 |
+
162,
|
| 462 |
+
163
|
| 463 |
+
]
|
| 464 |
+
},
|
| 465 |
+
"state/head/position": {
|
| 466 |
+
"description": "头部关节角度（弧度），G2 size of 3",
|
| 467 |
+
"dimensions": 3,
|
| 468 |
+
"indices": [
|
| 469 |
+
164,
|
| 470 |
+
165,
|
| 471 |
+
166
|
| 472 |
+
]
|
| 473 |
+
},
|
| 474 |
+
"state/head/velocity": {
|
| 475 |
+
"description": "头部关节速度（弧度/秒）",
|
| 476 |
+
"dimensions": 3,
|
| 477 |
+
"indices": [
|
| 478 |
+
167,
|
| 479 |
+
168,
|
| 480 |
+
169
|
| 481 |
+
]
|
| 482 |
+
},
|
| 483 |
+
"state/head/effort": {
|
| 484 |
+
"description": "头部关节力矩（Nm）",
|
| 485 |
+
"dimensions": 3,
|
| 486 |
+
"indices": [
|
| 487 |
+
170,
|
| 488 |
+
171,
|
| 489 |
+
172
|
| 490 |
+
]
|
| 491 |
+
},
|
| 492 |
+
"state/head/mode": {
|
| 493 |
+
"description": "头部关节模式，size of 3",
|
| 494 |
+
"dimensions": 3,
|
| 495 |
+
"indices": [
|
| 496 |
+
173,
|
| 497 |
+
174,
|
| 498 |
+
175
|
| 499 |
+
]
|
| 500 |
+
},
|
| 501 |
+
"state/head_pose/position": {
|
| 502 |
+
"description": "基于 base_link 的头部实际位置（m），size of 3",
|
| 503 |
+
"dimensions": 0,
|
| 504 |
+
"indices": []
|
| 505 |
+
},
|
| 506 |
+
"state/head_pose/orientation": {
|
| 507 |
+
"description": "基于 base_link 的头部实际朝向，四元数，size of 4",
|
| 508 |
+
"dimensions": 0,
|
| 509 |
+
"indices": []
|
| 510 |
+
},
|
| 511 |
+
"state/waist/position": {
|
| 512 |
+
"description": "腰部关节角度（弧度），G2 size of 5",
|
| 513 |
+
"dimensions": 5,
|
| 514 |
+
"indices": [
|
| 515 |
+
176,
|
| 516 |
+
177,
|
| 517 |
+
178,
|
| 518 |
+
179,
|
| 519 |
+
180
|
| 520 |
+
]
|
| 521 |
+
},
|
| 522 |
+
"state/waist/velocity": {
|
| 523 |
+
"description": "腰部关节速度（弧度/秒）",
|
| 524 |
+
"dimensions": 5,
|
| 525 |
+
"indices": [
|
| 526 |
+
181,
|
| 527 |
+
182,
|
| 528 |
+
183,
|
| 529 |
+
184,
|
| 530 |
+
185
|
| 531 |
+
]
|
| 532 |
+
},
|
| 533 |
+
"state/waist/effort": {
|
| 534 |
+
"description": "腰部关节力矩（Nm）",
|
| 535 |
+
"dimensions": 5,
|
| 536 |
+
"indices": [
|
| 537 |
+
186,
|
| 538 |
+
187,
|
| 539 |
+
188,
|
| 540 |
+
189,
|
| 541 |
+
190
|
| 542 |
+
]
|
| 543 |
+
},
|
| 544 |
+
"state/waist/mode": {
|
| 545 |
+
"description": "腰部关节模式，size of 5",
|
| 546 |
+
"dimensions": 5,
|
| 547 |
+
"indices": [
|
| 548 |
+
191,
|
| 549 |
+
192,
|
| 550 |
+
193,
|
| 551 |
+
194,
|
| 552 |
+
195
|
| 553 |
+
]
|
| 554 |
+
},
|
| 555 |
+
"state/waist_pose/position": {
|
| 556 |
+
"description": "基于 base_link 的腰部实际位置（m），size of 3",
|
| 557 |
+
"dimensions": 0,
|
| 558 |
+
"indices": []
|
| 559 |
+
},
|
| 560 |
+
"state/waist_pose/orientation": {
|
| 561 |
+
"description": "基于 base_link 的腰部实际朝向，四元数，size of 4",
|
| 562 |
+
"dimensions": 0,
|
| 563 |
+
"indices": []
|
| 564 |
+
},
|
| 565 |
+
"state/robot/position": {
|
| 566 |
+
"description": "机器人在 odom 坐标系下 base_link 的位置（m），size of 3（算法和使用方无需再做取逆操作）",
|
| 567 |
+
"dimensions": 3,
|
| 568 |
+
"indices": [
|
| 569 |
+
196,
|
| 570 |
+
197,
|
| 571 |
+
198
|
| 572 |
+
]
|
| 573 |
+
},
|
| 574 |
+
"state/robot/orientation": {
|
| 575 |
+
"description": "机器人在 odom 坐标系下 base_link 的朝向，四元数，size of 4（算法和使用方无需再做取逆操作）",
|
| 576 |
+
"dimensions": 4,
|
| 577 |
+
"indices": [
|
| 578 |
+
199,
|
| 579 |
+
200,
|
| 580 |
+
201,
|
| 581 |
+
202
|
| 582 |
+
]
|
| 583 |
+
},
|
| 584 |
+
"state/operator_event/action_src_status": {
|
| 585 |
+
"description": "动作来源状态，来源 /arbitrator/action_src.status；0=IDLE，1=TAKEOVER（接管，响应遥操 action），2=BACKWARD（回退），3=MODEL（推理）",
|
| 586 |
+
"dimensions": 1,
|
| 587 |
+
"indices": [
|
| 588 |
+
203
|
| 589 |
+
]
|
| 590 |
+
},
|
| 591 |
+
"state/left_ee_force/controlled": {
|
| 592 |
+
"description": "左手触觉传感器是否处于受控状态",
|
| 593 |
+
"dimensions": 0,
|
| 594 |
+
"indices": []
|
| 595 |
+
},
|
| 596 |
+
"state/left_ee_force/rows": {
|
| 597 |
+
"description": "左手触觉传感器矩阵行数",
|
| 598 |
+
"dimensions": 0,
|
| 599 |
+
"indices": []
|
| 600 |
+
},
|
| 601 |
+
"state/left_ee_force/cols": {
|
| 602 |
+
"description": "左手触觉传感器矩阵列数",
|
| 603 |
+
"dimensions": 0,
|
| 604 |
+
"indices": []
|
| 605 |
+
},
|
| 606 |
+
"state/left_ee_force/resolution_x": {
|
| 607 |
+
"description": "左手触觉传感器 X 方向分辨率",
|
| 608 |
+
"dimensions": 0,
|
| 609 |
+
"indices": []
|
| 610 |
+
},
|
| 611 |
+
"state/left_ee_force/resolution_y": {
|
| 612 |
+
"description": "左手触觉传感器 Y 方向分辨率",
|
| 613 |
+
"dimensions": 0,
|
| 614 |
+
"indices": []
|
| 615 |
+
},
|
| 616 |
+
"state/left_ee_force/normal_force": {
|
| 617 |
+
"description": "左手触觉传感器法向力（N）",
|
| 618 |
+
"dimensions": 0,
|
| 619 |
+
"indices": []
|
| 620 |
+
},
|
| 621 |
+
"state/left_ee_force/shear_force_x": {
|
| 622 |
+
"description": "左手触觉传感器 X 方向剪切力（N）",
|
| 623 |
+
"dimensions": 0,
|
| 624 |
+
"indices": []
|
| 625 |
+
},
|
| 626 |
+
"state/left_ee_force/shear_force_y": {
|
| 627 |
+
"description": "左手触觉传感器 Y 方向剪切力（N）",
|
| 628 |
+
"dimensions": 0,
|
| 629 |
+
"indices": []
|
| 630 |
+
},
|
| 631 |
+
"state/left_ee_force/contact": {
|
| 632 |
+
"description": "左手触觉传感器接触状态",
|
| 633 |
+
"dimensions": 0,
|
| 634 |
+
"indices": []
|
| 635 |
+
},
|
| 636 |
+
"state/left_ee_force/valid": {
|
| 637 |
+
"description": "左手触觉传感器数据有效标志",
|
| 638 |
+
"dimensions": 0,
|
| 639 |
+
"indices": []
|
| 640 |
+
},
|
| 641 |
+
"state/left_ee_force/err_code": {
|
| 642 |
+
"description": "左手触觉传感器错误码",
|
| 643 |
+
"dimensions": 0,
|
| 644 |
+
"indices": []
|
| 645 |
+
},
|
| 646 |
+
"state/right_ee_force/controlled": {
|
| 647 |
+
"description": "右手触觉传感器是否处于受控状态",
|
| 648 |
+
"dimensions": 0,
|
| 649 |
+
"indices": []
|
| 650 |
+
},
|
| 651 |
+
"state/right_ee_force/rows": {
|
| 652 |
+
"description": "右手触觉传感器矩阵行数",
|
| 653 |
+
"dimensions": 0,
|
| 654 |
+
"indices": []
|
| 655 |
+
},
|
| 656 |
+
"state/right_ee_force/cols": {
|
| 657 |
+
"description": "右手触觉传感器矩阵列数",
|
| 658 |
+
"dimensions": 0,
|
| 659 |
+
"indices": []
|
| 660 |
+
},
|
| 661 |
+
"state/right_ee_force/resolution_x": {
|
| 662 |
+
"description": "右手触觉传感器 X 方向分辨率",
|
| 663 |
+
"dimensions": 0,
|
| 664 |
+
"indices": []
|
| 665 |
+
},
|
| 666 |
+
"state/right_ee_force/resolution_y": {
|
| 667 |
+
"description": "右手触觉传感器 Y 方向分辨率",
|
| 668 |
+
"dimensions": 0,
|
| 669 |
+
"indices": []
|
| 670 |
+
},
|
| 671 |
+
"state/right_ee_force/normal_force": {
|
| 672 |
+
"description": "右手触觉传感器法向力（N）",
|
| 673 |
+
"dimensions": 0,
|
| 674 |
+
"indices": []
|
| 675 |
+
},
|
| 676 |
+
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|
| 677 |
+
"description": "右手触觉传感器 X 方向剪切力（N）",
|
| 678 |
+
"dimensions": 0,
|
| 679 |
+
"indices": []
|
| 680 |
+
},
|
| 681 |
+
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|
| 682 |
+
"description": "右手触觉传感器 Y 方向剪切力（N）",
|
| 683 |
+
"dimensions": 0,
|
| 684 |
+
"indices": []
|
| 685 |
+
},
|
| 686 |
+
"state/right_ee_force/contact": {
|
| 687 |
+
"description": "右手触觉传感器接触状态",
|
| 688 |
+
"dimensions": 0,
|
| 689 |
+
"indices": []
|
| 690 |
+
},
|
| 691 |
+
"state/right_ee_force/valid": {
|
| 692 |
+
"description": "右手触觉传感器数据有效标志",
|
| 693 |
+
"dimensions": 0,
|
| 694 |
+
"indices": []
|
| 695 |
+
},
|
| 696 |
+
"state/right_ee_force/err_code": {
|
| 697 |
+
"description": "右手触觉传感器错误码",
|
| 698 |
+
"dimensions": 0,
|
| 699 |
+
"indices": []
|
| 700 |
+
},
|
| 701 |
+
"state/left_vr_button/axis_click": {
|
| 702 |
+
"description": "左手 VR 手柄摇杆点击（int64），size of 1",
|
| 703 |
+
"dimensions": 1,
|
| 704 |
+
"indices": [
|
| 705 |
+
204
|
| 706 |
+
]
|
| 707 |
+
},
|
| 708 |
+
"state/left_vr_button/axis_x": {
|
| 709 |
+
"description": "左手 VR 手柄摇杆 X 轴（float64），size of 1",
|
| 710 |
+
"dimensions": 1,
|
| 711 |
+
"indices": [
|
| 712 |
+
205
|
| 713 |
+
]
|
| 714 |
+
},
|
| 715 |
+
"state/left_vr_button/axis_y": {
|
| 716 |
+
"description": "左手 VR 手柄摇杆 Y 轴（float64），size of 1",
|
| 717 |
+
"dimensions": 1,
|
| 718 |
+
"indices": [
|
| 719 |
+
206
|
| 720 |
+
]
|
| 721 |
+
},
|
| 722 |
+
"state/left_vr_button/hand_trig": {
|
| 723 |
+
"description": "左手 VR 手柄侧键（float64），控制机械臂移动，size of 1",
|
| 724 |
+
"dimensions": 1,
|
| 725 |
+
"indices": [
|
| 726 |
+
207
|
| 727 |
+
]
|
| 728 |
+
},
|
| 729 |
+
"state/left_vr_button/index_trig": {
|
| 730 |
+
"description": "左手 VR 手柄食指扳机键（float64），控制夹爪开合，size of 1",
|
| 731 |
+
"dimensions": 1,
|
| 732 |
+
"indices": [
|
| 733 |
+
208
|
| 734 |
+
]
|
| 735 |
+
},
|
| 736 |
+
"state/left_vr_button/key_one": {
|
| 737 |
+
"description": "左手 VR 按键 X（int64），size of 1",
|
| 738 |
+
"dimensions": 1,
|
| 739 |
+
"indices": [
|
| 740 |
+
209
|
| 741 |
+
]
|
| 742 |
+
},
|
| 743 |
+
"state/left_vr_button/key_two": {
|
| 744 |
+
"description": "左手 VR 按键 Y（int64），size of 1",
|
| 745 |
+
"dimensions": 1,
|
| 746 |
+
"indices": [
|
| 747 |
+
210
|
| 748 |
+
]
|
| 749 |
+
},
|
| 750 |
+
"state/right_vr_button/axis_click": {
|
| 751 |
+
"description": "右手 VR 手柄摇杆点击（int64），size of 1",
|
| 752 |
+
"dimensions": 1,
|
| 753 |
+
"indices": [
|
| 754 |
+
211
|
| 755 |
+
]
|
| 756 |
+
},
|
| 757 |
+
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|
| 758 |
+
"description": "右手 VR 手柄摇杆 X 轴（float64），size of 1",
|
| 759 |
+
"dimensions": 1,
|
| 760 |
+
"indices": [
|
| 761 |
+
212
|
| 762 |
+
]
|
| 763 |
+
},
|
| 764 |
+
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|
| 765 |
+
"description": "右手 VR 手柄摇杆 Y 轴（float64），size of 1",
|
| 766 |
+
"dimensions": 1,
|
| 767 |
+
"indices": [
|
| 768 |
+
213
|
| 769 |
+
]
|
| 770 |
+
},
|
| 771 |
+
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|
| 772 |
+
"description": "右手 VR 手柄侧键（float64），控制机械臂移动，size of 1",
|
| 773 |
+
"dimensions": 1,
|
| 774 |
+
"indices": [
|
| 775 |
+
214
|
| 776 |
+
]
|
| 777 |
+
},
|
| 778 |
+
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|
| 779 |
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"description": "右手 VR 手柄食指扳机键（float64），控制夹爪开合，size of 1",
|
| 780 |
+
"dimensions": 1,
|
| 781 |
+
"indices": [
|
| 782 |
+
215
|
| 783 |
+
]
|
| 784 |
+
},
|
| 785 |
+
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|
| 786 |
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"description": "右手 VR 按键 A（int64），size of 1",
|
| 787 |
+
"dimensions": 1,
|
| 788 |
+
"indices": [
|
| 789 |
+
216
|
| 790 |
+
]
|
| 791 |
+
},
|
| 792 |
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|
| 793 |
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"description": "右手 VR 按键 B（int64），size of 1",
|
| 794 |
+
"dimensions": 1,
|
| 795 |
+
"indices": [
|
| 796 |
+
217
|
| 797 |
+
]
|
| 798 |
+
},
|
| 799 |
+
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|
| 800 |
+
"description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
|
| 801 |
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"dimensions": 9,
|
| 802 |
+
"indices": [
|
| 803 |
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218,
|
| 804 |
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219,
|
| 805 |
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220,
|
| 806 |
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|
| 807 |
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222,
|
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223,
|
| 809 |
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224,
|
| 810 |
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225,
|
| 811 |
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226
|
| 812 |
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]
|
| 813 |
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},
|
| 814 |
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|
| 815 |
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"description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
|
| 816 |
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"dimensions": 9,
|
| 817 |
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|
| 818 |
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227,
|
| 819 |
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228,
|
| 820 |
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229,
|
| 821 |
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|
| 822 |
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231,
|
| 823 |
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232,
|
| 824 |
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233,
|
| 825 |
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234,
|
| 826 |
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235
|
| 827 |
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]
|
| 828 |
+
},
|
| 829 |
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|
| 830 |
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"description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
|
| 831 |
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|
| 832 |
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|
| 833 |
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|
| 834 |
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| 835 |
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238,
|
| 836 |
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|
| 837 |
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240,
|
| 838 |
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241,
|
| 839 |
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242,
|
| 840 |
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243,
|
| 841 |
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244
|
| 842 |
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]
|
| 843 |
+
},
|
| 844 |
+
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|
| 845 |
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|
| 846 |
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|
| 847 |
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|
| 848 |
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|
| 849 |
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246,
|
| 850 |
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247,
|
| 851 |
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249,
|
| 853 |
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250,
|
| 854 |
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251,
|
| 855 |
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252,
|
| 856 |
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253
|
| 857 |
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]
|
| 858 |
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},
|
| 859 |
+
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|
| 860 |
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"description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
|
| 861 |
+
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|
| 862 |
+
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|
| 863 |
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|
| 864 |
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255,
|
| 865 |
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256,
|
| 866 |
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257,
|
| 867 |
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258,
|
| 868 |
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259,
|
| 869 |
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260,
|
| 870 |
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261,
|
| 871 |
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262
|
| 872 |
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]
|
| 873 |
+
},
|
| 874 |
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|
| 875 |
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"description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
|
| 876 |
+
"dimensions": 9,
|
| 877 |
+
"indices": [
|
| 878 |
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263,
|
| 879 |
+
264,
|
| 880 |
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265,
|
| 881 |
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266,
|
| 882 |
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267,
|
| 883 |
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268,
|
| 884 |
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269,
|
| 885 |
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270,
|
| 886 |
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271
|
| 887 |
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]
|
| 888 |
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},
|
| 889 |
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|
| 890 |
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"description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐",
|
| 891 |
+
"dimensions": 3,
|
| 892 |
+
"indices": [
|
| 893 |
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272,
|
| 894 |
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273,
|
| 895 |
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274
|
| 896 |
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]
|
| 897 |
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},
|
| 898 |
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|
| 899 |
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"description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参平移向量（m），逐帧对齐",
|
| 900 |
+
"dimensions": 3,
|
| 901 |
+
"indices": [
|
| 902 |
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275,
|
| 903 |
+
276,
|
| 904 |
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277
|
| 905 |
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]
|
| 906 |
+
},
|
| 907 |
+
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|
| 908 |
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"description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
|
| 909 |
+
"dimensions": 3,
|
| 910 |
+
"indices": [
|
| 911 |
+
278,
|
| 912 |
+
279,
|
| 913 |
+
280
|
| 914 |
+
]
|
| 915 |
+
},
|
| 916 |
+
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|
| 917 |
+
"description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
|
| 918 |
+
"dimensions": 3,
|
| 919 |
+
"indices": [
|
| 920 |
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281,
|
| 921 |
+
282,
|
| 922 |
+
283
|
| 923 |
+
]
|
| 924 |
+
},
|
| 925 |
+
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|
| 926 |
+
"description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐",
|
| 927 |
+
"dimensions": 3,
|
| 928 |
+
"indices": [
|
| 929 |
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284,
|
| 930 |
+
285,
|
| 931 |
+
286
|
| 932 |
+
]
|
| 933 |
+
},
|
| 934 |
+
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|
| 935 |
+
"description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
|
| 936 |
+
"dimensions": 3,
|
| 937 |
+
"indices": [
|
| 938 |
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287,
|
| 939 |
+
288,
|
| 940 |
+
289
|
| 941 |
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]
|
| 942 |
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|
| 943 |
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| 944 |
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|
| 945 |
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|
| 946 |
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|
| 947 |
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|
| 948 |
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| 949 |
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1
|
| 950 |
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],
|
| 951 |
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| 952 |
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},
|
| 953 |
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| 954 |
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| 955 |
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|
| 956 |
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|
| 957 |
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],
|
| 958 |
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|
| 959 |
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|
| 960 |
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|
| 961 |
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|
| 962 |
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| 963 |
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|
| 964 |
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],
|
| 965 |
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|
| 966 |
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| 967 |
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|
| 968 |
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|
| 969 |
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| 970 |
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| 971 |
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528,
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| 972 |
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640
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| 976 |
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| 977 |
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| 978 |
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| 979 |
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| 980 |
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| 981 |
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| 982 |
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|
| 983 |
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| 984 |
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| 985 |
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| 986 |
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| 987 |
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| 989 |
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| 990 |
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| 991 |
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640
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| 999 |
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| 1000 |
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| 1002 |
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| 1003 |
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| 1004 |
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| 1005 |
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| 1006 |
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| 1007 |
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| 1008 |
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| 1012 |
+
},
|
| 1013 |
+
"observation.images.cam_high": {
|
| 1014 |
+
"dtype": "video",
|
| 1015 |
+
"shape": [
|
| 1016 |
+
3,
|
| 1017 |
+
400,
|
| 1018 |
+
640
|
| 1019 |
+
],
|
| 1020 |
+
"names": [
|
| 1021 |
+
"channels",
|
| 1022 |
+
"height",
|
| 1023 |
+
"width"
|
| 1024 |
+
],
|
| 1025 |
+
"info": {
|
| 1026 |
+
"video.height": 400,
|
| 1027 |
+
"video.width": 640,
|
| 1028 |
+
"video.codec": "hevc",
|
| 1029 |
+
"video.pix_fmt": "yuv420p",
|
| 1030 |
+
"video.is_depth_map": false,
|
| 1031 |
+
"video.fps": 30,
|
| 1032 |
+
"video.channels": 3,
|
| 1033 |
+
"has_audio": false
|
| 1034 |
+
}
|
| 1035 |
+
}
|
| 1036 |
+
},
|
| 1037 |
+
"total_episodes": 2000,
|
| 1038 |
+
"total_frames": 1534321,
|
| 1039 |
+
"total_tasks": 20,
|
| 1040 |
+
"splits": {
|
| 1041 |
+
"train": "0:2000"
|
| 1042 |
+
}
|
| 1043 |
+
}
|
training-data/real-world/full-shot/meta/stats.json
ADDED
|
@@ -0,0 +1,3569 @@
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training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-038.mp4
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|
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version https://git-lfs.github.com/spec/v1
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size 2028618
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training-data/real-world/full-shot/videos/observation.images.cam_high/chunk-000/file-039.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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version https://git-lfs.github.com/spec/v1
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size 1801809
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