| { |
| "codebase_version": "v3.0", |
| "robot_type": "Panda", |
| "task_id": "pb-pr-edge-slide-v1", |
| "total_episodes": 55, |
| "total_frames": 220996, |
| "fps": 100, |
| "control_freq": 100, |
| "save_freq": { |
| "proprio": 100, |
| "force_torque": 50, |
| "object_state": 50, |
| "cameras": 25, |
| "tactile": 50 |
| }, |
| "chunk_size": 1000, |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "fps": 100, |
| "description": "Robot action vector" |
| }, |
| "reward": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "fps": 100 |
| }, |
| "task_score": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "fps": 100 |
| }, |
| "observation.ee_poses": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "fps": 100 |
| }, |
| "observation.force_torque": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "fps": 50 |
| }, |
| "observation.joint_positions": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "fps": 100 |
| }, |
| "observation.object_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "fps": 50 |
| }, |
| "observation.object_quat": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "fps": 50 |
| }, |
| "observation.object_state": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ], |
| "fps": 50 |
| }, |
| "observation.robot0_eef_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "fps": 100 |
| }, |
| "observation.robot0_eef_quat": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "fps": 100 |
| }, |
| "observation.robot0_gripper_qpos": { |
| "dtype": "float32", |
| "shape": [ |
| 2 |
| ], |
| "fps": 100 |
| }, |
| "observation.robot0_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "fps": 100 |
| }, |
| "observation.robot0_joint_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "fps": 100 |
| }, |
| "observation.robot0_tactile_left": { |
| "dtype": "float32", |
| "shape": [ |
| 8, |
| 8 |
| ], |
| "fps": 50 |
| }, |
| "observation.robot0_tactile_right": { |
| "dtype": "float32", |
| "shape": [ |
| 8, |
| 8 |
| ], |
| "fps": 50 |
| }, |
| "observation.rgb_ego_cam": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "fps": 25, |
| "video_path": "videos/observation.rgb_ego_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" |
| }, |
| "frame_index.rgb_ego_cam": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "description": "Video frame index for rgb_ego_cam", |
| "fps": 100 |
| }, |
| "observation.rgb_exo_left_cam": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "fps": 25, |
| "video_path": "videos/observation.rgb_exo_left_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" |
| }, |
| "frame_index.rgb_exo_left_cam": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "description": "Video frame index for rgb_exo_left_cam", |
| "fps": 100 |
| }, |
| "observation.rgb_exo_right_cam": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "fps": 25, |
| "video_path": "videos/observation.rgb_exo_right_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" |
| }, |
| "frame_index.rgb_exo_right_cam": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "description": "Video frame index for rgb_exo_right_cam", |
| "fps": 100 |
| }, |
| "observation.rgb_gripper_cam": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "fps": 25, |
| "video_path": "videos/observation.rgb_gripper_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" |
| }, |
| "frame_index.rgb_gripper_cam": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "description": "Video frame index for rgb_gripper_cam", |
| "fps": 100 |
| } |
| }, |
| "task_config": { |
| "task_id": "pb-pr-edge-slide-v1", |
| "description": "Single arm: slide a flat plate to the table edge to create a graspable overhang, then grasp and lift it.", |
| "max_episode_steps": 10000, |
| "reward_type": "dense", |
| "action_mode": "cartesian_delta", |
| "control_freq": 100, |
| "scene": { |
| "table": { |
| "full_size": [ |
| 0.5, |
| 0.5, |
| 0.05 |
| ], |
| "height": 0.8, |
| "offset": null |
| }, |
| "robot_offset": null, |
| "object": { |
| "half_length": 0.075, |
| "half_width": 0.05, |
| "half_height": 0.015, |
| "mass": 0.1, |
| "friction": 0.4, |
| "color": [ |
| 0.5, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| }, |
| "table_color": [ |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "floor_color": [ |
| 0.5, |
| 0.5, |
| 0.5, |
| 1.0 |
| ], |
| "lift_height": 0.15, |
| "robot_ori": null |
| }, |
| "placement": { |
| "center": null, |
| "x_range": 0.12, |
| "y_range": 0.12 |
| }, |
| "randomization": { |
| "object_half_length": { |
| "range": [ |
| 0.05, |
| 0.1 |
| ] |
| }, |
| "object_half_width": { |
| "range": [ |
| 0.04, |
| 0.075 |
| ] |
| }, |
| "object_friction": { |
| "range": [ |
| 0.2, |
| 0.6 |
| ] |
| }, |
| "object_color": { |
| "enabled": true |
| }, |
| "table_color": { |
| "enabled": false |
| }, |
| "lighting": { |
| "position": true, |
| "color": false |
| } |
| }, |
| "recording": { |
| "save_freq": { |
| "proprio": 100, |
| "force_torque": 50, |
| "object_state": 50, |
| "cameras": 25, |
| "tactile": 50 |
| }, |
| "save": { |
| "action": true, |
| "reward": true, |
| "task_score": true, |
| "joint_positions": true, |
| "ee_poses": true |
| } |
| }, |
| "controller": { |
| "type": "IK", |
| "robot": "Panda", |
| "kp": 200, |
| "damping_ratio": 1, |
| "impedance_mode": "fixed", |
| "uncouple_pos_ori": true, |
| "input_type": "delta", |
| "input_ref_frame": "base" |
| }, |
| "obs": { |
| "proprio": { |
| "enabled": true, |
| "keys": [ |
| "robot0_eef_pos", |
| "robot0_eef_quat", |
| "robot0_gripper_qpos", |
| "robot0_joint_pos", |
| "robot0_joint_vel" |
| ], |
| "save": true |
| }, |
| "object_state": { |
| "enabled": true, |
| "save": true |
| }, |
| "cameras": { |
| "gripper_cam": { |
| "enabled": true, |
| "robosuite_name": "robot0_eye_in_hand", |
| "width": 640, |
| "height": 480, |
| "depth": false, |
| "save": true |
| }, |
| "ego_cam": { |
| "enabled": true, |
| "robosuite_name": "robot0_robotview", |
| "width": 640, |
| "height": 480, |
| "depth": false, |
| "save": true |
| }, |
| "exo_right_cam": { |
| "enabled": true, |
| "robosuite_name": "agentview", |
| "pos": [ |
| 0.0, |
| -0.9, |
| 1.2 |
| ], |
| "quat": [ |
| 0.8254, |
| 0.5646, |
| 0.0, |
| 0.0 |
| ], |
| "fovy": 60, |
| "width": 640, |
| "height": 480, |
| "depth": false, |
| "save": true |
| }, |
| "exo_left_cam": { |
| "enabled": true, |
| "robosuite_name": "sideview", |
| "pos": [ |
| 0.0, |
| 0.9, |
| 1.2 |
| ], |
| "quat": [ |
| 0.0, |
| 0.0, |
| 0.5646, |
| 0.8254 |
| ], |
| "fovy": 60, |
| "width": 640, |
| "height": 480, |
| "depth": false, |
| "save": true |
| } |
| }, |
| "force_torque": { |
| "enabled": true, |
| "keys": [ |
| "robot0_ft_sensor" |
| ], |
| "save": true |
| }, |
| "tactile": { |
| "enabled": true, |
| "fingers": [ |
| "right", |
| "left" |
| ], |
| "rows": 8, |
| "cols": 8, |
| "spacing": 0.001, |
| "save": true |
| } |
| } |
| }, |
| "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" |
| } |
