yam/pulldrawer/schema.json

{
  "features": {
    "action": {
      "dtype": "float32",
      "field_descriptions": {
        "ee_pose_action_left": {
          "absolute": true,
          "dtype": "float64",
          "end": 16,
          "start": 0
        },
        "ee_pose_action_right": {
          "absolute": true,
          "dtype": "float64",
          "end": 32,
          "start": 16
        },
        "gripper_pos_action_left": {
          "absolute": true,
          "dtype": "float64",
          "end": 33,
          "start": 32
        },
        "gripper_pos_action_right": {
          "absolute": true,
          "dtype": "float64",
          "end": 34,
          "start": 33
        },
        "joint_pos_action_left": {
          "absolute": true,
          "dtype": "float64",
          "end": 40,
          "start": 34
        },
        "joint_pos_action_right": {
          "absolute": true,
          "dtype": "float64",
          "end": 46,
          "start": 40
        }
      },
      "shape": [
        46
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "field_descriptions": {
        "ee_pose_obs_left": {
          "absolute": true,
          "dtype": "float64",
          "end": 16,
          "start": 0
        },
        "ee_pose_obs_right": {
          "absolute": true,
          "dtype": "float64",
          "end": 32,
          "start": 16
        },
        "gripper_pos_obs_left": {
          "absolute": true,
          "dtype": "float64",
          "end": 33,
          "start": 32
        },
        "gripper_pos_obs_right": {
          "absolute": true,
          "dtype": "float64",
          "end": 34,
          "start": 33
        },
        "joint_pos_obs_left": {
          "absolute": true,
          "dtype": "float64",
          "end": 40,
          "start": 34
        },
        "joint_pos_obs_right": {
          "absolute": true,
          "dtype": "float64",
          "end": 46,
          "start": 40
        }
      },
      "shape": [
        46
      ]
    }
  },
  "observations": {
    "hand_left": {
      "color_space": "RGB",
      "dtype": "uint8",
      "encoding": "png",
      "role": "initial_observation"
    },
    "hand_right": {
      "color_space": "RGB",
      "dtype": "uint8",
      "encoding": "png",
      "role": "initial_observation"
    },
    "top_head": {
      "color_space": "RGB",
      "dtype": "uint8",
      "encoding": "png",
      "role": "initial_observation"
    }
  },
  "schema_version": "acwmbench.inference.v1",
  "timeline": {
    "fps": 30.0,
    "frame_index": {
      "dtype": "int64",
      "origin": 0,
      "step": 1
    },
    "timestamp": {
      "definition": "frame_index / fps",
      "dtype": "float32"
    }
  }
}