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[
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{
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|
pb-hard-balance-hard-v1/meta/info.json
ADDED
|
@@ -0,0 +1,456 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "Panda",
|
| 4 |
+
"task_id": "pb-hard-balance-hard-v1",
|
| 5 |
+
"total_episodes": 285,
|
| 6 |
+
"total_frames": 483941,
|
| 7 |
+
"fps": 100,
|
| 8 |
+
"control_freq": 100,
|
| 9 |
+
"save_freq": {
|
| 10 |
+
"proprio": 100,
|
| 11 |
+
"force_torque": 50,
|
| 12 |
+
"object_state": 50,
|
| 13 |
+
"cameras": 25,
|
| 14 |
+
"tactile": 50
|
| 15 |
+
},
|
| 16 |
+
"chunk_size": 1000,
|
| 17 |
+
"features": {
|
| 18 |
+
"action": {
|
| 19 |
+
"dtype": "float32",
|
| 20 |
+
"shape": [
|
| 21 |
+
7
|
| 22 |
+
],
|
| 23 |
+
"fps": 100,
|
| 24 |
+
"description": "Robot action vector"
|
| 25 |
+
},
|
| 26 |
+
"reward": {
|
| 27 |
+
"dtype": "float32",
|
| 28 |
+
"shape": [
|
| 29 |
+
1
|
| 30 |
+
],
|
| 31 |
+
"fps": 100
|
| 32 |
+
},
|
| 33 |
+
"task_score": {
|
| 34 |
+
"dtype": "float32",
|
| 35 |
+
"shape": [
|
| 36 |
+
1
|
| 37 |
+
],
|
| 38 |
+
"fps": 100
|
| 39 |
+
},
|
| 40 |
+
"observation.ee_poses": {
|
| 41 |
+
"dtype": "float32",
|
| 42 |
+
"shape": [
|
| 43 |
+
9
|
| 44 |
+
],
|
| 45 |
+
"fps": 100
|
| 46 |
+
},
|
| 47 |
+
"observation.force_torque": {
|
| 48 |
+
"dtype": "float32",
|
| 49 |
+
"shape": [
|
| 50 |
+
6
|
| 51 |
+
],
|
| 52 |
+
"fps": 50
|
| 53 |
+
},
|
| 54 |
+
"observation.joint_positions": {
|
| 55 |
+
"dtype": "float32",
|
| 56 |
+
"shape": [
|
| 57 |
+
9
|
| 58 |
+
],
|
| 59 |
+
"fps": 100
|
| 60 |
+
},
|
| 61 |
+
"observation.object_pos": {
|
| 62 |
+
"dtype": "float32",
|
| 63 |
+
"shape": [
|
| 64 |
+
3
|
| 65 |
+
],
|
| 66 |
+
"fps": 50
|
| 67 |
+
},
|
| 68 |
+
"observation.object_quat": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
4
|
| 72 |
+
],
|
| 73 |
+
"fps": 50
|
| 74 |
+
},
|
| 75 |
+
"observation.object_state": {
|
| 76 |
+
"dtype": "float32",
|
| 77 |
+
"shape": [
|
| 78 |
+
17
|
| 79 |
+
],
|
| 80 |
+
"fps": 50
|
| 81 |
+
},
|
| 82 |
+
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|
| 83 |
+
"dtype": "float32",
|
| 84 |
+
"shape": [
|
| 85 |
+
3
|
| 86 |
+
],
|
| 87 |
+
"fps": 100
|
| 88 |
+
},
|
| 89 |
+
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|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
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|
| 92 |
+
3
|
| 93 |
+
],
|
| 94 |
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"fps": 100
|
| 95 |
+
},
|
| 96 |
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|
| 97 |
+
"dtype": "float32",
|
| 98 |
+
"shape": [
|
| 99 |
+
4
|
| 100 |
+
],
|
| 101 |
+
"fps": 100
|
| 102 |
+
},
|
| 103 |
+
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|
| 104 |
+
"dtype": "float32",
|
| 105 |
+
"shape": [
|
| 106 |
+
2
|
| 107 |
+
],
|
| 108 |
+
"fps": 100
|
| 109 |
+
},
|
| 110 |
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|
| 111 |
+
"dtype": "float32",
|
| 112 |
+
"shape": [
|
| 113 |
+
7
|
| 114 |
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],
|
| 115 |
+
"fps": 100
|
| 116 |
+
},
|
| 117 |
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|
| 118 |
+
"dtype": "float32",
|
| 119 |
+
"shape": [
|
| 120 |
+
7
|
| 121 |
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],
|
| 122 |
+
"fps": 100
|
| 123 |
+
},
|
| 124 |
+
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|
| 125 |
+
"dtype": "float32",
|
| 126 |
+
"shape": [
|
| 127 |
+
8,
|
| 128 |
+
8
|
| 129 |
+
],
|
| 130 |
+
"fps": 50
|
| 131 |
+
},
|
| 132 |
+
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|
| 133 |
+
"dtype": "float32",
|
| 134 |
+
"shape": [
|
| 135 |
+
8,
|
| 136 |
+
8
|
| 137 |
+
],
|
| 138 |
+
"fps": 50
|
| 139 |
+
},
|
| 140 |
+
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|
| 141 |
+
"dtype": "float32",
|
| 142 |
+
"shape": [
|
| 143 |
+
3
|
| 144 |
+
],
|
| 145 |
+
"fps": 100
|
| 146 |
+
},
|
| 147 |
+
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|
| 148 |
+
"dtype": "float32",
|
| 149 |
+
"shape": [
|
| 150 |
+
1
|
| 151 |
+
],
|
| 152 |
+
"fps": 100
|
| 153 |
+
},
|
| 154 |
+
"observation.rod_to_platform": {
|
| 155 |
+
"dtype": "float32",
|
| 156 |
+
"shape": [
|
| 157 |
+
1
|
| 158 |
+
],
|
| 159 |
+
"fps": 100
|
| 160 |
+
},
|
| 161 |
+
"observation.rgb_ego_cam": {
|
| 162 |
+
"dtype": "video",
|
| 163 |
+
"shape": [
|
| 164 |
+
480,
|
| 165 |
+
640,
|
| 166 |
+
3
|
| 167 |
+
],
|
| 168 |
+
"fps": 25,
|
| 169 |
+
"video_path": "videos/observation.rgb_ego_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 170 |
+
},
|
| 171 |
+
"frame_index.rgb_ego_cam": {
|
| 172 |
+
"dtype": "int64",
|
| 173 |
+
"shape": [
|
| 174 |
+
1
|
| 175 |
+
],
|
| 176 |
+
"description": "Video frame index for rgb_ego_cam",
|
| 177 |
+
"fps": 100
|
| 178 |
+
},
|
| 179 |
+
"observation.rgb_exo_left_cam": {
|
| 180 |
+
"dtype": "video",
|
| 181 |
+
"shape": [
|
| 182 |
+
480,
|
| 183 |
+
640,
|
| 184 |
+
3
|
| 185 |
+
],
|
| 186 |
+
"fps": 25,
|
| 187 |
+
"video_path": "videos/observation.rgb_exo_left_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 188 |
+
},
|
| 189 |
+
"frame_index.rgb_exo_left_cam": {
|
| 190 |
+
"dtype": "int64",
|
| 191 |
+
"shape": [
|
| 192 |
+
1
|
| 193 |
+
],
|
| 194 |
+
"description": "Video frame index for rgb_exo_left_cam",
|
| 195 |
+
"fps": 100
|
| 196 |
+
},
|
| 197 |
+
"observation.rgb_exo_right_cam": {
|
| 198 |
+
"dtype": "video",
|
| 199 |
+
"shape": [
|
| 200 |
+
480,
|
| 201 |
+
640,
|
| 202 |
+
3
|
| 203 |
+
],
|
| 204 |
+
"fps": 25,
|
| 205 |
+
"video_path": "videos/observation.rgb_exo_right_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 206 |
+
},
|
| 207 |
+
"frame_index.rgb_exo_right_cam": {
|
| 208 |
+
"dtype": "int64",
|
| 209 |
+
"shape": [
|
| 210 |
+
1
|
| 211 |
+
],
|
| 212 |
+
"description": "Video frame index for rgb_exo_right_cam",
|
| 213 |
+
"fps": 100
|
| 214 |
+
},
|
| 215 |
+
"observation.rgb_gripper_cam": {
|
| 216 |
+
"dtype": "video",
|
| 217 |
+
"shape": [
|
| 218 |
+
480,
|
| 219 |
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640,
|
| 220 |
+
3
|
| 221 |
+
],
|
| 222 |
+
"fps": 25,
|
| 223 |
+
"video_path": "videos/observation.rgb_gripper_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 224 |
+
},
|
| 225 |
+
"frame_index.rgb_gripper_cam": {
|
| 226 |
+
"dtype": "int64",
|
| 227 |
+
"shape": [
|
| 228 |
+
1
|
| 229 |
+
],
|
| 230 |
+
"description": "Video frame index for rgb_gripper_cam",
|
| 231 |
+
"fps": 100
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"task_config": {
|
| 235 |
+
"task_id": "pb-hard-balance-hard-v1",
|
| 236 |
+
"description": "Single arm: balance an elongated rod vertically on a narrow perpendicular base. Tactile feedback is critical for detecting tilt and making micro-corrections. The rod must remain balanced for a sustained duration.",
|
| 237 |
+
"max_episode_steps": 100,
|
| 238 |
+
"reward_type": "dense",
|
| 239 |
+
"action_mode": "cartesian_delta",
|
| 240 |
+
"control_freq": 100,
|
| 241 |
+
"scene": {
|
| 242 |
+
"table": {
|
| 243 |
+
"full_size": [
|
| 244 |
+
0.7,
|
| 245 |
+
0.5,
|
| 246 |
+
0.05
|
| 247 |
+
],
|
| 248 |
+
"height": 0.8,
|
| 249 |
+
"offset": null
|
| 250 |
+
},
|
| 251 |
+
"robot_offset": null
|
| 252 |
+
},
|
| 253 |
+
"placement": {
|
| 254 |
+
"center": null,
|
| 255 |
+
"x_range": 0.2,
|
| 256 |
+
"y_range": 0.15,
|
| 257 |
+
"ensure_valid_placement": false
|
| 258 |
+
},
|
| 259 |
+
"randomization": {
|
| 260 |
+
"object_color": {
|
| 261 |
+
"enabled": true
|
| 262 |
+
},
|
| 263 |
+
"table_color": {
|
| 264 |
+
"enabled": false
|
| 265 |
+
},
|
| 266 |
+
"lighting": {
|
| 267 |
+
"position": true,
|
| 268 |
+
"color": false
|
| 269 |
+
},
|
| 270 |
+
"rod": {
|
| 271 |
+
"half_length_range": [
|
| 272 |
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0.08,
|
| 273 |
+
0.15
|
| 274 |
+
],
|
| 275 |
+
"mass_range": [
|
| 276 |
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0.03,
|
| 277 |
+
0.08
|
| 278 |
+
],
|
| 279 |
+
"x_range": [
|
| 280 |
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-0.2,
|
| 281 |
+
0.2
|
| 282 |
+
],
|
| 283 |
+
"y_range": [
|
| 284 |
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-0.18,
|
| 285 |
+
0.18
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
"platform": {
|
| 289 |
+
"x_range": [
|
| 290 |
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-0.1,
|
| 291 |
+
0.22
|
| 292 |
+
],
|
| 293 |
+
"y_range": [
|
| 294 |
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-0.1,
|
| 295 |
+
0.1
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"task": {
|
| 300 |
+
"rod_radius": 0.008,
|
| 301 |
+
"rod_half_length": 0.12,
|
| 302 |
+
"rod_mass": 0.05,
|
| 303 |
+
"rod_friction": [
|
| 304 |
+
1.0,
|
| 305 |
+
0.1,
|
| 306 |
+
0.01
|
| 307 |
+
],
|
| 308 |
+
"ridge_half_length": 0.025,
|
| 309 |
+
"ridge_half_width": 0.004,
|
| 310 |
+
"ridge_height": 0.02,
|
| 311 |
+
"base_half_size": [
|
| 312 |
+
0.04,
|
| 313 |
+
0.04,
|
| 314 |
+
0.005
|
| 315 |
+
],
|
| 316 |
+
"platform_friction": [
|
| 317 |
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1.0,
|
| 318 |
+
0.005,
|
| 319 |
+
0.0001
|
| 320 |
+
],
|
| 321 |
+
"tilt_threshold_deg": 10.0,
|
| 322 |
+
"balance_hold_steps": 150
|
| 323 |
+
},
|
| 324 |
+
"task_conditions": {
|
| 325 |
+
"success": {
|
| 326 |
+
"score_threshold": 1.0
|
| 327 |
+
},
|
| 328 |
+
"failure": {
|
| 329 |
+
"floor_z_threshold": 0.05
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"recording": {
|
| 333 |
+
"save_freq": {
|
| 334 |
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"proprio": 100,
|
| 335 |
+
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|
| 336 |
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|
| 337 |
+
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|
| 338 |
+
"tactile": 50
|
| 339 |
+
},
|
| 340 |
+
"save": {
|
| 341 |
+
"action": true,
|
| 342 |
+
"reward": true,
|
| 343 |
+
"task_score": true,
|
| 344 |
+
"joint_positions": true,
|
| 345 |
+
"ee_poses": true
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
"controller": {
|
| 349 |
+
"type": "OSC_POSE",
|
| 350 |
+
"robot": "Panda",
|
| 351 |
+
"kp": 200,
|
| 352 |
+
"damping_ratio": 1,
|
| 353 |
+
"impedance_mode": "fixed",
|
| 354 |
+
"uncouple_pos_ori": true,
|
| 355 |
+
"input_type": "delta",
|
| 356 |
+
"input_ref_frame": "base"
|
| 357 |
+
},
|
| 358 |
+
"obs": {
|
| 359 |
+
"proprio": {
|
| 360 |
+
"enabled": true,
|
| 361 |
+
"keys": [
|
| 362 |
+
"robot0_eef_pos",
|
| 363 |
+
"robot0_eef_quat",
|
| 364 |
+
"robot0_gripper_qpos",
|
| 365 |
+
"robot0_joint_pos",
|
| 366 |
+
"robot0_joint_vel"
|
| 367 |
+
],
|
| 368 |
+
"save": true
|
| 369 |
+
},
|
| 370 |
+
"object_state": {
|
| 371 |
+
"enabled": true,
|
| 372 |
+
"save": true
|
| 373 |
+
},
|
| 374 |
+
"cameras": {
|
| 375 |
+
"gripper_cam": {
|
| 376 |
+
"enabled": true,
|
| 377 |
+
"robosuite_name": "robot0_eye_in_hand",
|
| 378 |
+
"width": 640,
|
| 379 |
+
"height": 480,
|
| 380 |
+
"depth": false,
|
| 381 |
+
"save": true
|
| 382 |
+
},
|
| 383 |
+
"ego_cam": {
|
| 384 |
+
"enabled": true,
|
| 385 |
+
"robosuite_name": "robot0_robotview",
|
| 386 |
+
"width": 640,
|
| 387 |
+
"height": 480,
|
| 388 |
+
"depth": false,
|
| 389 |
+
"save": true
|
| 390 |
+
},
|
| 391 |
+
"exo_right_cam": {
|
| 392 |
+
"enabled": true,
|
| 393 |
+
"robosuite_name": "agentview",
|
| 394 |
+
"pos": [
|
| 395 |
+
0.0,
|
| 396 |
+
-0.9,
|
| 397 |
+
1.2
|
| 398 |
+
],
|
| 399 |
+
"quat": [
|
| 400 |
+
0.8254,
|
| 401 |
+
0.5646,
|
| 402 |
+
0.0,
|
| 403 |
+
0.0
|
| 404 |
+
],
|
| 405 |
+
"fovy": 60,
|
| 406 |
+
"width": 640,
|
| 407 |
+
"height": 480,
|
| 408 |
+
"depth": false,
|
| 409 |
+
"save": true
|
| 410 |
+
},
|
| 411 |
+
"exo_left_cam": {
|
| 412 |
+
"enabled": true,
|
| 413 |
+
"robosuite_name": "sideview",
|
| 414 |
+
"pos": [
|
| 415 |
+
0.0,
|
| 416 |
+
0.9,
|
| 417 |
+
1.2
|
| 418 |
+
],
|
| 419 |
+
"quat": [
|
| 420 |
+
0.0,
|
| 421 |
+
0.0,
|
| 422 |
+
0.5646,
|
| 423 |
+
0.8254
|
| 424 |
+
],
|
| 425 |
+
"fovy": 60,
|
| 426 |
+
"width": 640,
|
| 427 |
+
"height": 480,
|
| 428 |
+
"depth": false,
|
| 429 |
+
"save": true
|
| 430 |
+
}
|
| 431 |
+
},
|
| 432 |
+
"force_torque": {
|
| 433 |
+
"enabled": true,
|
| 434 |
+
"keys": [
|
| 435 |
+
"robot0_ft_sensor"
|
| 436 |
+
],
|
| 437 |
+
"save": true
|
| 438 |
+
},
|
| 439 |
+
"tactile": {
|
| 440 |
+
"enabled": true,
|
| 441 |
+
"fingers": [
|
| 442 |
+
"right",
|
| 443 |
+
"left"
|
| 444 |
+
],
|
| 445 |
+
"rows": 8,
|
| 446 |
+
"cols": 8,
|
| 447 |
+
"spacing": 0.001,
|
| 448 |
+
"save": true
|
| 449 |
+
}
|
| 450 |
+
}
|
| 451 |
+
},
|
| 452 |
+
"data_files_size_in_mb": 100,
|
| 453 |
+
"video_files_size_in_mb": 200,
|
| 454 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 455 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 456 |
+
}
|
pb-hard-balance-hard-v1/meta/stats.json
ADDED
|
@@ -0,0 +1,1126 @@
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|
| 379 |
+
"exo_left_cam": "640x480"
|
| 380 |
+
},
|
| 381 |
+
"dataset_summary": {
|
| 382 |
+
"action": [
|
| 383 |
+
1350,
|
| 384 |
+
7
|
| 385 |
+
],
|
| 386 |
+
"episode": 33,
|
| 387 |
+
"teleop_device": "gamepad",
|
| 388 |
+
"final_score": 1.0
|
| 389 |
+
},
|
| 390 |
+
"annotation_rating": 5
|
| 391 |
+
}
|
| 392 |
+
]
|
pb-hard-balance-medium-v1/meta/info.json
ADDED
|
@@ -0,0 +1,456 @@
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "Panda",
|
| 4 |
+
"task_id": "pb-hard-balance-medium-v1",
|
| 5 |
+
"total_episodes": 281,
|
| 6 |
+
"total_frames": 501004,
|
| 7 |
+
"fps": 100,
|
| 8 |
+
"control_freq": 100,
|
| 9 |
+
"save_freq": {
|
| 10 |
+
"proprio": 100,
|
| 11 |
+
"force_torque": 50,
|
| 12 |
+
"object_state": 50,
|
| 13 |
+
"cameras": 25,
|
| 14 |
+
"tactile": 50
|
| 15 |
+
},
|
| 16 |
+
"chunk_size": 1000,
|
| 17 |
+
"features": {
|
| 18 |
+
"action": {
|
| 19 |
+
"dtype": "float32",
|
| 20 |
+
"shape": [
|
| 21 |
+
7
|
| 22 |
+
],
|
| 23 |
+
"fps": 100,
|
| 24 |
+
"description": "Robot action vector"
|
| 25 |
+
},
|
| 26 |
+
"reward": {
|
| 27 |
+
"dtype": "float32",
|
| 28 |
+
"shape": [
|
| 29 |
+
1
|
| 30 |
+
],
|
| 31 |
+
"fps": 100
|
| 32 |
+
},
|
| 33 |
+
"task_score": {
|
| 34 |
+
"dtype": "float32",
|
| 35 |
+
"shape": [
|
| 36 |
+
1
|
| 37 |
+
],
|
| 38 |
+
"fps": 100
|
| 39 |
+
},
|
| 40 |
+
"observation.ee_poses": {
|
| 41 |
+
"dtype": "float32",
|
| 42 |
+
"shape": [
|
| 43 |
+
9
|
| 44 |
+
],
|
| 45 |
+
"fps": 100
|
| 46 |
+
},
|
| 47 |
+
"observation.force_torque": {
|
| 48 |
+
"dtype": "float32",
|
| 49 |
+
"shape": [
|
| 50 |
+
6
|
| 51 |
+
],
|
| 52 |
+
"fps": 50
|
| 53 |
+
},
|
| 54 |
+
"observation.joint_positions": {
|
| 55 |
+
"dtype": "float32",
|
| 56 |
+
"shape": [
|
| 57 |
+
9
|
| 58 |
+
],
|
| 59 |
+
"fps": 100
|
| 60 |
+
},
|
| 61 |
+
"observation.object_pos": {
|
| 62 |
+
"dtype": "float32",
|
| 63 |
+
"shape": [
|
| 64 |
+
3
|
| 65 |
+
],
|
| 66 |
+
"fps": 50
|
| 67 |
+
},
|
| 68 |
+
"observation.object_quat": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
4
|
| 72 |
+
],
|
| 73 |
+
"fps": 50
|
| 74 |
+
},
|
| 75 |
+
"observation.object_state": {
|
| 76 |
+
"dtype": "float32",
|
| 77 |
+
"shape": [
|
| 78 |
+
17
|
| 79 |
+
],
|
| 80 |
+
"fps": 50
|
| 81 |
+
},
|
| 82 |
+
"observation.platform_pos": {
|
| 83 |
+
"dtype": "float32",
|
| 84 |
+
"shape": [
|
| 85 |
+
3
|
| 86 |
+
],
|
| 87 |
+
"fps": 100
|
| 88 |
+
},
|
| 89 |
+
"observation.robot0_eef_pos": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
3
|
| 93 |
+
],
|
| 94 |
+
"fps": 100
|
| 95 |
+
},
|
| 96 |
+
"observation.robot0_eef_quat": {
|
| 97 |
+
"dtype": "float32",
|
| 98 |
+
"shape": [
|
| 99 |
+
4
|
| 100 |
+
],
|
| 101 |
+
"fps": 100
|
| 102 |
+
},
|
| 103 |
+
"observation.robot0_gripper_qpos": {
|
| 104 |
+
"dtype": "float32",
|
| 105 |
+
"shape": [
|
| 106 |
+
2
|
| 107 |
+
],
|
| 108 |
+
"fps": 100
|
| 109 |
+
},
|
| 110 |
+
"observation.robot0_joint_pos": {
|
| 111 |
+
"dtype": "float32",
|
| 112 |
+
"shape": [
|
| 113 |
+
7
|
| 114 |
+
],
|
| 115 |
+
"fps": 100
|
| 116 |
+
},
|
| 117 |
+
"observation.robot0_joint_vel": {
|
| 118 |
+
"dtype": "float32",
|
| 119 |
+
"shape": [
|
| 120 |
+
7
|
| 121 |
+
],
|
| 122 |
+
"fps": 100
|
| 123 |
+
},
|
| 124 |
+
"observation.robot0_tactile_left": {
|
| 125 |
+
"dtype": "float32",
|
| 126 |
+
"shape": [
|
| 127 |
+
8,
|
| 128 |
+
8
|
| 129 |
+
],
|
| 130 |
+
"fps": 50
|
| 131 |
+
},
|
| 132 |
+
"observation.robot0_tactile_right": {
|
| 133 |
+
"dtype": "float32",
|
| 134 |
+
"shape": [
|
| 135 |
+
8,
|
| 136 |
+
8
|
| 137 |
+
],
|
| 138 |
+
"fps": 50
|
| 139 |
+
},
|
| 140 |
+
"observation.rod_axis": {
|
| 141 |
+
"dtype": "float32",
|
| 142 |
+
"shape": [
|
| 143 |
+
3
|
| 144 |
+
],
|
| 145 |
+
"fps": 100
|
| 146 |
+
},
|
| 147 |
+
"observation.rod_tilt_deg": {
|
| 148 |
+
"dtype": "float32",
|
| 149 |
+
"shape": [
|
| 150 |
+
1
|
| 151 |
+
],
|
| 152 |
+
"fps": 100
|
| 153 |
+
},
|
| 154 |
+
"observation.rod_to_platform": {
|
| 155 |
+
"dtype": "float32",
|
| 156 |
+
"shape": [
|
| 157 |
+
1
|
| 158 |
+
],
|
| 159 |
+
"fps": 100
|
| 160 |
+
},
|
| 161 |
+
"observation.rgb_ego_cam": {
|
| 162 |
+
"dtype": "video",
|
| 163 |
+
"shape": [
|
| 164 |
+
480,
|
| 165 |
+
640,
|
| 166 |
+
3
|
| 167 |
+
],
|
| 168 |
+
"fps": 25,
|
| 169 |
+
"video_path": "videos/observation.rgb_ego_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 170 |
+
},
|
| 171 |
+
"frame_index.rgb_ego_cam": {
|
| 172 |
+
"dtype": "int64",
|
| 173 |
+
"shape": [
|
| 174 |
+
1
|
| 175 |
+
],
|
| 176 |
+
"description": "Video frame index for rgb_ego_cam",
|
| 177 |
+
"fps": 100
|
| 178 |
+
},
|
| 179 |
+
"observation.rgb_exo_left_cam": {
|
| 180 |
+
"dtype": "video",
|
| 181 |
+
"shape": [
|
| 182 |
+
480,
|
| 183 |
+
640,
|
| 184 |
+
3
|
| 185 |
+
],
|
| 186 |
+
"fps": 25,
|
| 187 |
+
"video_path": "videos/observation.rgb_exo_left_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 188 |
+
},
|
| 189 |
+
"frame_index.rgb_exo_left_cam": {
|
| 190 |
+
"dtype": "int64",
|
| 191 |
+
"shape": [
|
| 192 |
+
1
|
| 193 |
+
],
|
| 194 |
+
"description": "Video frame index for rgb_exo_left_cam",
|
| 195 |
+
"fps": 100
|
| 196 |
+
},
|
| 197 |
+
"observation.rgb_exo_right_cam": {
|
| 198 |
+
"dtype": "video",
|
| 199 |
+
"shape": [
|
| 200 |
+
480,
|
| 201 |
+
640,
|
| 202 |
+
3
|
| 203 |
+
],
|
| 204 |
+
"fps": 25,
|
| 205 |
+
"video_path": "videos/observation.rgb_exo_right_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 206 |
+
},
|
| 207 |
+
"frame_index.rgb_exo_right_cam": {
|
| 208 |
+
"dtype": "int64",
|
| 209 |
+
"shape": [
|
| 210 |
+
1
|
| 211 |
+
],
|
| 212 |
+
"description": "Video frame index for rgb_exo_right_cam",
|
| 213 |
+
"fps": 100
|
| 214 |
+
},
|
| 215 |
+
"observation.rgb_gripper_cam": {
|
| 216 |
+
"dtype": "video",
|
| 217 |
+
"shape": [
|
| 218 |
+
480,
|
| 219 |
+
640,
|
| 220 |
+
3
|
| 221 |
+
],
|
| 222 |
+
"fps": 25,
|
| 223 |
+
"video_path": "videos/observation.rgb_gripper_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 224 |
+
},
|
| 225 |
+
"frame_index.rgb_gripper_cam": {
|
| 226 |
+
"dtype": "int64",
|
| 227 |
+
"shape": [
|
| 228 |
+
1
|
| 229 |
+
],
|
| 230 |
+
"description": "Video frame index for rgb_gripper_cam",
|
| 231 |
+
"fps": 100
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"task_config": {
|
| 235 |
+
"task_id": "pb-hard-balance-medium-v1",
|
| 236 |
+
"description": "Single arm: balance an elongated rod vertically on a narrow perpendicular base. Tactile feedback is critical for detecting tilt and making micro-corrections. The rod must remain balanced for a sustained duration.",
|
| 237 |
+
"max_episode_steps": 100,
|
| 238 |
+
"reward_type": "dense",
|
| 239 |
+
"action_mode": "cartesian_delta",
|
| 240 |
+
"control_freq": 100,
|
| 241 |
+
"scene": {
|
| 242 |
+
"table": {
|
| 243 |
+
"full_size": [
|
| 244 |
+
0.7,
|
| 245 |
+
0.5,
|
| 246 |
+
0.05
|
| 247 |
+
],
|
| 248 |
+
"height": 0.8,
|
| 249 |
+
"offset": null
|
| 250 |
+
},
|
| 251 |
+
"robot_offset": null
|
| 252 |
+
},
|
| 253 |
+
"placement": {
|
| 254 |
+
"center": null,
|
| 255 |
+
"x_range": 0.2,
|
| 256 |
+
"y_range": 0.15,
|
| 257 |
+
"ensure_valid_placement": false
|
| 258 |
+
},
|
| 259 |
+
"randomization": {
|
| 260 |
+
"object_color": {
|
| 261 |
+
"enabled": true
|
| 262 |
+
},
|
| 263 |
+
"table_color": {
|
| 264 |
+
"enabled": false
|
| 265 |
+
},
|
| 266 |
+
"lighting": {
|
| 267 |
+
"position": true,
|
| 268 |
+
"color": false
|
| 269 |
+
},
|
| 270 |
+
"rod": {
|
| 271 |
+
"half_length_range": [
|
| 272 |
+
0.08,
|
| 273 |
+
0.15
|
| 274 |
+
],
|
| 275 |
+
"mass_range": [
|
| 276 |
+
0.03,
|
| 277 |
+
0.08
|
| 278 |
+
],
|
| 279 |
+
"x_range": [
|
| 280 |
+
-0.2,
|
| 281 |
+
0.2
|
| 282 |
+
],
|
| 283 |
+
"y_range": [
|
| 284 |
+
-0.18,
|
| 285 |
+
0.18
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
"platform": {
|
| 289 |
+
"x_range": [
|
| 290 |
+
-0.1,
|
| 291 |
+
0.22
|
| 292 |
+
],
|
| 293 |
+
"y_range": [
|
| 294 |
+
-0.1,
|
| 295 |
+
0.1
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"task": {
|
| 300 |
+
"rod_radius": 0.008,
|
| 301 |
+
"rod_half_length": 0.12,
|
| 302 |
+
"rod_mass": 0.05,
|
| 303 |
+
"rod_friction": [
|
| 304 |
+
1.0,
|
| 305 |
+
0.1,
|
| 306 |
+
0.01
|
| 307 |
+
],
|
| 308 |
+
"ridge_half_length": 0.06,
|
| 309 |
+
"ridge_half_width": 0.006,
|
| 310 |
+
"ridge_height": 0.02,
|
| 311 |
+
"base_half_size": [
|
| 312 |
+
0.04,
|
| 313 |
+
0.04,
|
| 314 |
+
0.005
|
| 315 |
+
],
|
| 316 |
+
"platform_friction": [
|
| 317 |
+
1.0,
|
| 318 |
+
0.005,
|
| 319 |
+
0.0001
|
| 320 |
+
],
|
| 321 |
+
"tilt_threshold_deg": 10.0,
|
| 322 |
+
"balance_hold_steps": 150
|
| 323 |
+
},
|
| 324 |
+
"task_conditions": {
|
| 325 |
+
"success": {
|
| 326 |
+
"score_threshold": 1.0
|
| 327 |
+
},
|
| 328 |
+
"failure": {
|
| 329 |
+
"floor_z_threshold": 0.05
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"recording": {
|
| 333 |
+
"save_freq": {
|
| 334 |
+
"proprio": 100,
|
| 335 |
+
"force_torque": 50,
|
| 336 |
+
"object_state": 50,
|
| 337 |
+
"cameras": 25,
|
| 338 |
+
"tactile": 50
|
| 339 |
+
},
|
| 340 |
+
"save": {
|
| 341 |
+
"action": true,
|
| 342 |
+
"reward": true,
|
| 343 |
+
"task_score": true,
|
| 344 |
+
"joint_positions": true,
|
| 345 |
+
"ee_poses": true
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
"controller": {
|
| 349 |
+
"type": "OSC_POSE",
|
| 350 |
+
"robot": "Panda",
|
| 351 |
+
"kp": 200,
|
| 352 |
+
"damping_ratio": 1,
|
| 353 |
+
"impedance_mode": "fixed",
|
| 354 |
+
"uncouple_pos_ori": true,
|
| 355 |
+
"input_type": "delta",
|
| 356 |
+
"input_ref_frame": "base"
|
| 357 |
+
},
|
| 358 |
+
"obs": {
|
| 359 |
+
"proprio": {
|
| 360 |
+
"enabled": true,
|
| 361 |
+
"keys": [
|
| 362 |
+
"robot0_eef_pos",
|
| 363 |
+
"robot0_eef_quat",
|
| 364 |
+
"robot0_gripper_qpos",
|
| 365 |
+
"robot0_joint_pos",
|
| 366 |
+
"robot0_joint_vel"
|
| 367 |
+
],
|
| 368 |
+
"save": true
|
| 369 |
+
},
|
| 370 |
+
"object_state": {
|
| 371 |
+
"enabled": true,
|
| 372 |
+
"save": true
|
| 373 |
+
},
|
| 374 |
+
"cameras": {
|
| 375 |
+
"gripper_cam": {
|
| 376 |
+
"enabled": true,
|
| 377 |
+
"robosuite_name": "robot0_eye_in_hand",
|
| 378 |
+
"width": 640,
|
| 379 |
+
"height": 480,
|
| 380 |
+
"depth": false,
|
| 381 |
+
"save": true
|
| 382 |
+
},
|
| 383 |
+
"ego_cam": {
|
| 384 |
+
"enabled": true,
|
| 385 |
+
"robosuite_name": "robot0_robotview",
|
| 386 |
+
"width": 640,
|
| 387 |
+
"height": 480,
|
| 388 |
+
"depth": false,
|
| 389 |
+
"save": true
|
| 390 |
+
},
|
| 391 |
+
"exo_right_cam": {
|
| 392 |
+
"enabled": true,
|
| 393 |
+
"robosuite_name": "agentview",
|
| 394 |
+
"pos": [
|
| 395 |
+
0.0,
|
| 396 |
+
-0.9,
|
| 397 |
+
1.2
|
| 398 |
+
],
|
| 399 |
+
"quat": [
|
| 400 |
+
0.8254,
|
| 401 |
+
0.5646,
|
| 402 |
+
0.0,
|
| 403 |
+
0.0
|
| 404 |
+
],
|
| 405 |
+
"fovy": 60,
|
| 406 |
+
"width": 640,
|
| 407 |
+
"height": 480,
|
| 408 |
+
"depth": false,
|
| 409 |
+
"save": true
|
| 410 |
+
},
|
| 411 |
+
"exo_left_cam": {
|
| 412 |
+
"enabled": true,
|
| 413 |
+
"robosuite_name": "sideview",
|
| 414 |
+
"pos": [
|
| 415 |
+
0.0,
|
| 416 |
+
0.9,
|
| 417 |
+
1.2
|
| 418 |
+
],
|
| 419 |
+
"quat": [
|
| 420 |
+
0.0,
|
| 421 |
+
0.0,
|
| 422 |
+
0.5646,
|
| 423 |
+
0.8254
|
| 424 |
+
],
|
| 425 |
+
"fovy": 60,
|
| 426 |
+
"width": 640,
|
| 427 |
+
"height": 480,
|
| 428 |
+
"depth": false,
|
| 429 |
+
"save": true
|
| 430 |
+
}
|
| 431 |
+
},
|
| 432 |
+
"force_torque": {
|
| 433 |
+
"enabled": true,
|
| 434 |
+
"keys": [
|
| 435 |
+
"robot0_ft_sensor"
|
| 436 |
+
],
|
| 437 |
+
"save": true
|
| 438 |
+
},
|
| 439 |
+
"tactile": {
|
| 440 |
+
"enabled": true,
|
| 441 |
+
"fingers": [
|
| 442 |
+
"right",
|
| 443 |
+
"left"
|
| 444 |
+
],
|
| 445 |
+
"rows": 8,
|
| 446 |
+
"cols": 8,
|
| 447 |
+
"spacing": 0.001,
|
| 448 |
+
"save": true
|
| 449 |
+
}
|
| 450 |
+
}
|
| 451 |
+
},
|
| 452 |
+
"data_files_size_in_mb": 100,
|
| 453 |
+
"video_files_size_in_mb": 200,
|
| 454 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 455 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 456 |
+
}
|
pb-hard-balance-medium-v1/meta/stats.json
ADDED
|
@@ -0,0 +1,1126 @@
|
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|
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|
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| 1 |
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| 2 |
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|
pb-hetbi-bowl-table-v1/meta/info.json
ADDED
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@@ -0,0 +1,461 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 24 |
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| 25 |
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| 27 |
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| 28 |
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| 30 |
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|
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|
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| 80 |
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|
| 81 |
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|
| 82 |
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|
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|
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| 87 |
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|
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|
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|
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|
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|
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| 101 |
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|
| 102 |
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|
| 104 |
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| 105 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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"video_path": "videos/observation.rgb_agent_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
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},
|
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"frame_index.rgb_agent_cam": {
|
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"dtype": "int64",
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"description": "Video frame index for rgb_agent_cam",
|
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|
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},
|
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],
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"fps": 25,
|
| 201 |
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"video_path": "videos/observation.rgb_exo_front_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 202 |
+
},
|
| 203 |
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"frame_index.rgb_exo_front_cam": {
|
| 204 |
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"dtype": "int64",
|
| 205 |
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"shape": [
|
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|
| 207 |
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],
|
| 208 |
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"description": "Video frame index for rgb_exo_front_cam",
|
| 209 |
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"fps": 100
|
| 210 |
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},
|
| 211 |
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"observation.rgb_gripper0_cam": {
|
| 212 |
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"dtype": "video",
|
| 213 |
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"shape": [
|
| 214 |
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480,
|
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|
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3
|
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],
|
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"fps": 25,
|
| 219 |
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"video_path": "videos/observation.rgb_gripper0_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 220 |
+
},
|
| 221 |
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"frame_index.rgb_gripper0_cam": {
|
| 222 |
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"dtype": "int64",
|
| 223 |
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"shape": [
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| 224 |
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1
|
| 225 |
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],
|
| 226 |
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"description": "Video frame index for rgb_gripper0_cam",
|
| 227 |
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"fps": 100
|
| 228 |
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},
|
| 229 |
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"observation.rgb_gripper1_cam": {
|
| 230 |
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"dtype": "video",
|
| 231 |
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"shape": [
|
| 232 |
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480,
|
| 233 |
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|
| 234 |
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3
|
| 235 |
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],
|
| 236 |
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"fps": 25,
|
| 237 |
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"video_path": "videos/observation.rgb_gripper1_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 238 |
+
},
|
| 239 |
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"frame_index.rgb_gripper1_cam": {
|
| 240 |
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"dtype": "int64",
|
| 241 |
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"shape": [
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| 242 |
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|
| 243 |
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],
|
| 244 |
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"description": "Video frame index for rgb_gripper1_cam",
|
| 245 |
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"fps": 100
|
| 246 |
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}
|
| 247 |
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},
|
| 248 |
+
"task_config": {
|
| 249 |
+
"task_id": "pb-hetbi-bowl-table-v1",
|
| 250 |
+
"description": "Bowl starts upside-down inside a rack compartment. Suction gripper grasps the bowl bottom and extracts it from the rack, then hands it over to parallel jaw gripper which grasps the rim and places it on the table. ",
|
| 251 |
+
"max_episode_steps": 1000,
|
| 252 |
+
"reward_type": "dense",
|
| 253 |
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"action_mode": "cartesian_delta",
|
| 254 |
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"control_freq": 100,
|
| 255 |
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"scene": {
|
| 256 |
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"table": {
|
| 257 |
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"height": 0.9,
|
| 258 |
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"full_size": [
|
| 259 |
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1.0,
|
| 260 |
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0.75,
|
| 261 |
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0.05
|
| 262 |
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],
|
| 263 |
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"offset": null
|
| 264 |
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},
|
| 265 |
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"robot_offset": null,
|
| 266 |
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"robot_rotation_z": [
|
| 267 |
+
-90,
|
| 268 |
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90
|
| 269 |
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],
|
| 270 |
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"object_color": null,
|
| 271 |
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"table_color": [
|
| 272 |
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1.0,
|
| 273 |
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1.0,
|
| 274 |
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1.0,
|
| 275 |
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1.0
|
| 276 |
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],
|
| 277 |
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"floor_color": [
|
| 278 |
+
0.5,
|
| 279 |
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0.5,
|
| 280 |
+
0.5,
|
| 281 |
+
1.0
|
| 282 |
+
]
|
| 283 |
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},
|
| 284 |
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"task_conditions": {
|
| 285 |
+
"success": {
|
| 286 |
+
"dist_threshold": 0.05,
|
| 287 |
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"lift_height": null,
|
| 288 |
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"require_gripper_contact": false
|
| 289 |
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},
|
| 290 |
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"failure": {
|
| 291 |
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"floor_drop_below": 0.05
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
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"randomization": {
|
| 295 |
+
"payload_mass": {
|
| 296 |
+
"enabled": true
|
| 297 |
+
},
|
| 298 |
+
"payload_friction": {
|
| 299 |
+
"enabled": true
|
| 300 |
+
},
|
| 301 |
+
"table_friction": {
|
| 302 |
+
"enabled": true
|
| 303 |
+
},
|
| 304 |
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"payload_placement": {
|
| 305 |
+
"enabled": false,
|
| 306 |
+
"x_std": 0.01,
|
| 307 |
+
"y_std": 0.01
|
| 308 |
+
},
|
| 309 |
+
"object_color": {
|
| 310 |
+
"enabled": false
|
| 311 |
+
},
|
| 312 |
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"table_color": {
|
| 313 |
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"enabled": false
|
| 314 |
+
},
|
| 315 |
+
"lighting": {
|
| 316 |
+
"position": true,
|
| 317 |
+
"color": false
|
| 318 |
+
},
|
| 319 |
+
"action_noise": {
|
| 320 |
+
"enabled": false
|
| 321 |
+
},
|
| 322 |
+
"observation_noise": {
|
| 323 |
+
"enabled": false
|
| 324 |
+
}
|
| 325 |
+
},
|
| 326 |
+
"recording": {
|
| 327 |
+
"save_freq": {
|
| 328 |
+
"proprio": 100,
|
| 329 |
+
"force_torque": 50,
|
| 330 |
+
"object_state": 50,
|
| 331 |
+
"cameras": 25,
|
| 332 |
+
"tactile": 50
|
| 333 |
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},
|
| 334 |
+
"save": {
|
| 335 |
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"action": true,
|
| 336 |
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"reward": true,
|
| 337 |
+
"task_score": true,
|
| 338 |
+
"joint_positions": true,
|
| 339 |
+
"ee_poses": true
|
| 340 |
+
}
|
| 341 |
+
},
|
| 342 |
+
"payload": "bowl",
|
| 343 |
+
"fixture": "rack",
|
| 344 |
+
"grippers": [
|
| 345 |
+
"PandaGripper",
|
| 346 |
+
"PandaSuctionGripper"
|
| 347 |
+
],
|
| 348 |
+
"payload_pos": [
|
| 349 |
+
-0.25,
|
| 350 |
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0.09,
|
| 351 |
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0.996
|
| 352 |
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],
|
| 353 |
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"payload_quat": [
|
| 354 |
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0,
|
| 355 |
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1,
|
| 356 |
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0,
|
| 357 |
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0
|
| 358 |
+
],
|
| 359 |
+
"controller": [
|
| 360 |
+
{
|
| 361 |
+
"type": "OSC_POSE",
|
| 362 |
+
"robot": "Panda",
|
| 363 |
+
"kp": 200,
|
| 364 |
+
"damping_ratio": 1,
|
| 365 |
+
"impedance_mode": "fixed",
|
| 366 |
+
"uncouple_pos_ori": true,
|
| 367 |
+
"input_type": "delta",
|
| 368 |
+
"input_ref_frame": "base"
|
| 369 |
+
},
|
| 370 |
+
{
|
| 371 |
+
"type": "OSC_POSE",
|
| 372 |
+
"robot": "Panda",
|
| 373 |
+
"kp": 200,
|
| 374 |
+
"damping_ratio": 1,
|
| 375 |
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"impedance_mode": "fixed",
|
| 376 |
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"uncouple_pos_ori": true,
|
| 377 |
+
"input_type": "delta",
|
| 378 |
+
"input_ref_frame": "base"
|
| 379 |
+
}
|
| 380 |
+
],
|
| 381 |
+
"obs": {
|
| 382 |
+
"proprio": {
|
| 383 |
+
"enabled": true,
|
| 384 |
+
"keys": [
|
| 385 |
+
"robot0_eef_pos",
|
| 386 |
+
"robot0_eef_quat",
|
| 387 |
+
"robot0_gripper_qpos",
|
| 388 |
+
"robot0_joint_pos",
|
| 389 |
+
"robot0_joint_vel",
|
| 390 |
+
"robot1_eef_pos",
|
| 391 |
+
"robot1_eef_quat",
|
| 392 |
+
"robot1_gripper_qpos",
|
| 393 |
+
"robot1_joint_pos",
|
| 394 |
+
"robot1_joint_vel"
|
| 395 |
+
],
|
| 396 |
+
"save": true
|
| 397 |
+
},
|
| 398 |
+
"object_state": {
|
| 399 |
+
"enabled": true,
|
| 400 |
+
"save": true
|
| 401 |
+
},
|
| 402 |
+
"cameras": {
|
| 403 |
+
"gripper0_cam": {
|
| 404 |
+
"enabled": true,
|
| 405 |
+
"robosuite_name": "robot0_eye_in_hand",
|
| 406 |
+
"width": 640,
|
| 407 |
+
"height": 480,
|
| 408 |
+
"depth": false,
|
| 409 |
+
"save": true
|
| 410 |
+
},
|
| 411 |
+
"gripper1_cam": {
|
| 412 |
+
"enabled": true,
|
| 413 |
+
"robosuite_name": "robot1_eye_in_hand",
|
| 414 |
+
"width": 640,
|
| 415 |
+
"height": 480,
|
| 416 |
+
"depth": false,
|
| 417 |
+
"save": true
|
| 418 |
+
},
|
| 419 |
+
"exo_front_cam": {
|
| 420 |
+
"enabled": true,
|
| 421 |
+
"robosuite_name": "frontview",
|
| 422 |
+
"width": 640,
|
| 423 |
+
"height": 480,
|
| 424 |
+
"depth": false,
|
| 425 |
+
"save": true
|
| 426 |
+
},
|
| 427 |
+
"agent_cam": {
|
| 428 |
+
"enabled": true,
|
| 429 |
+
"robosuite_name": "agentview",
|
| 430 |
+
"width": 640,
|
| 431 |
+
"height": 480,
|
| 432 |
+
"depth": false,
|
| 433 |
+
"save": true
|
| 434 |
+
}
|
| 435 |
+
},
|
| 436 |
+
"force_torque": {
|
| 437 |
+
"enabled": true,
|
| 438 |
+
"keys": [
|
| 439 |
+
"robot0_ft_sensor",
|
| 440 |
+
"robot1_ft_sensor"
|
| 441 |
+
],
|
| 442 |
+
"save": true
|
| 443 |
+
},
|
| 444 |
+
"tactile": {
|
| 445 |
+
"enabled": true,
|
| 446 |
+
"fingers": [
|
| 447 |
+
"right",
|
| 448 |
+
"left"
|
| 449 |
+
],
|
| 450 |
+
"rows": 8,
|
| 451 |
+
"cols": 8,
|
| 452 |
+
"spacing": 0.001,
|
| 453 |
+
"save": true
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
},
|
| 457 |
+
"data_files_size_in_mb": 100,
|
| 458 |
+
"video_files_size_in_mb": 200,
|
| 459 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 460 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 461 |
+
}
|
pb-hetbi-bowl-table-v1/meta/stats.json
ADDED
|
@@ -0,0 +1,1320 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 392 |
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]
|
pb-hetbi-cracker-box-jaw-v1/meta/info.json
ADDED
|
@@ -0,0 +1,462 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "Panda",
|
| 4 |
+
"task_id": "pb-hetbi-cracker-box-jaw-v1",
|
| 5 |
+
"total_episodes": 192,
|
| 6 |
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"total_frames": 811296,
|
| 7 |
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"fps": 100,
|
| 8 |
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"control_freq": 100,
|
| 9 |
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"save_freq": {
|
| 10 |
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"proprio": 100,
|
| 11 |
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"force_torque": 50,
|
| 12 |
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"object_state": 50,
|
| 13 |
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"cameras": 25,
|
| 14 |
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"tactile": 50
|
| 15 |
+
},
|
| 16 |
+
"chunk_size": 1000,
|
| 17 |
+
"features": {
|
| 18 |
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"action": {
|
| 19 |
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"dtype": "float32",
|
| 20 |
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"shape": [
|
| 21 |
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14
|
| 22 |
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],
|
| 23 |
+
"fps": 100,
|
| 24 |
+
"description": "Robot action vector"
|
| 25 |
+
},
|
| 26 |
+
"reward": {
|
| 27 |
+
"dtype": "float32",
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| 28 |
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|
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|
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},
|
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"frame_index.rgb_gripper1_cam": {
|
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|
| 245 |
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|
| 246 |
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}
|
| 247 |
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},
|
| 248 |
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"task_config": {
|
| 249 |
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"task_id": "pb-hetbi-cracker-box-jaw-v1",
|
| 250 |
+
"description": "Parallel-jaw-only variant of the cracker-box slot-insertion task. Both arms are in the scene but the suction-gripper arm (robot 1) is frozen \u2014 only the finger-gripper arm (robot 0) is controllable. The jaw gripper must pick the box off the table and slide it into the slot on its own.\n",
|
| 251 |
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"max_episode_steps": 1000,
|
| 252 |
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"reward_type": "dense",
|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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],
|
| 263 |
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|
| 264 |
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},
|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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],
|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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]
|
| 283 |
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},
|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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"lift_height": null,
|
| 288 |
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|
| 289 |
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},
|
| 290 |
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|
| 291 |
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|
| 292 |
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}
|
| 293 |
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},
|
| 294 |
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"randomization": {
|
| 295 |
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"payload_mass": {
|
| 296 |
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"enabled": true
|
| 297 |
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},
|
| 298 |
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|
| 299 |
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"enabled": true
|
| 300 |
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},
|
| 301 |
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"table_friction": {
|
| 302 |
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"enabled": true
|
| 303 |
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},
|
| 304 |
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"payload_placement": {
|
| 305 |
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"enabled": true,
|
| 306 |
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|
| 307 |
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|
| 308 |
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},
|
| 309 |
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|
| 310 |
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"enabled": false
|
| 311 |
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},
|
| 312 |
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|
| 313 |
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|
| 314 |
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},
|
| 315 |
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"lighting": {
|
| 316 |
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"position": true,
|
| 317 |
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"color": false
|
| 318 |
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},
|
| 319 |
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|
| 320 |
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"enabled": false
|
| 321 |
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},
|
| 322 |
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"observation_noise": {
|
| 323 |
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"enabled": false
|
| 324 |
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}
|
| 325 |
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},
|
| 326 |
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"recording": {
|
| 327 |
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"save_freq": {
|
| 328 |
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|
| 329 |
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"force_torque": 50,
|
| 330 |
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|
| 331 |
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"cameras": 25,
|
| 332 |
+
"tactile": 50
|
| 333 |
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},
|
| 334 |
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|
| 335 |
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|
| 336 |
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|
| 337 |
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|
| 338 |
+
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|
| 339 |
+
"ee_poses": true
|
| 340 |
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}
|
| 341 |
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},
|
| 342 |
+
"payload": "cracker_box",
|
| 343 |
+
"fixture": "slot",
|
| 344 |
+
"grippers": [
|
| 345 |
+
"PandaGripper",
|
| 346 |
+
"PandaSuctionGripper"
|
| 347 |
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],
|
| 348 |
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"payload_quat": [
|
| 349 |
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0.7071068,
|
| 350 |
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0,
|
| 351 |
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0,
|
| 352 |
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0.7071068
|
| 353 |
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],
|
| 354 |
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|
| 355 |
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|
| 356 |
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0.7071068,
|
| 357 |
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|
| 358 |
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0
|
| 359 |
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],
|
| 360 |
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"controller": [
|
| 361 |
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{
|
| 362 |
+
"type": "OSC_POSE",
|
| 363 |
+
"robot": "Panda",
|
| 364 |
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"kp": 200,
|
| 365 |
+
"damping_ratio": 1,
|
| 366 |
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"impedance_mode": "fixed",
|
| 367 |
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"uncouple_pos_ori": true,
|
| 368 |
+
"input_type": "delta",
|
| 369 |
+
"input_ref_frame": "base"
|
| 370 |
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},
|
| 371 |
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{
|
| 372 |
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"type": "OSC_POSE",
|
| 373 |
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|
| 374 |
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|
| 375 |
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|
| 376 |
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|
| 377 |
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"uncouple_pos_ori": true,
|
| 378 |
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|
| 379 |
+
"input_ref_frame": "base"
|
| 380 |
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}
|
| 381 |
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],
|
| 382 |
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"obs": {
|
| 383 |
+
"proprio": {
|
| 384 |
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"enabled": true,
|
| 385 |
+
"keys": [
|
| 386 |
+
"robot0_eef_pos",
|
| 387 |
+
"robot0_eef_quat",
|
| 388 |
+
"robot0_gripper_qpos",
|
| 389 |
+
"robot0_joint_pos",
|
| 390 |
+
"robot0_joint_vel",
|
| 391 |
+
"robot1_eef_pos",
|
| 392 |
+
"robot1_eef_quat",
|
| 393 |
+
"robot1_gripper_qpos",
|
| 394 |
+
"robot1_joint_pos",
|
| 395 |
+
"robot1_joint_vel"
|
| 396 |
+
],
|
| 397 |
+
"save": true
|
| 398 |
+
},
|
| 399 |
+
"object_state": {
|
| 400 |
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"enabled": true,
|
| 401 |
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"save": true
|
| 402 |
+
},
|
| 403 |
+
"cameras": {
|
| 404 |
+
"gripper0_cam": {
|
| 405 |
+
"enabled": true,
|
| 406 |
+
"robosuite_name": "robot0_eye_in_hand",
|
| 407 |
+
"width": 640,
|
| 408 |
+
"height": 480,
|
| 409 |
+
"depth": false,
|
| 410 |
+
"save": true
|
| 411 |
+
},
|
| 412 |
+
"gripper1_cam": {
|
| 413 |
+
"enabled": true,
|
| 414 |
+
"robosuite_name": "robot1_eye_in_hand",
|
| 415 |
+
"width": 640,
|
| 416 |
+
"height": 480,
|
| 417 |
+
"depth": false,
|
| 418 |
+
"save": true
|
| 419 |
+
},
|
| 420 |
+
"exo_bird_cam": {
|
| 421 |
+
"enabled": true,
|
| 422 |
+
"robosuite_name": "birdview",
|
| 423 |
+
"width": 640,
|
| 424 |
+
"height": 480,
|
| 425 |
+
"depth": false,
|
| 426 |
+
"save": true
|
| 427 |
+
},
|
| 428 |
+
"agent_cam": {
|
| 429 |
+
"enabled": true,
|
| 430 |
+
"robosuite_name": "agentview",
|
| 431 |
+
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|
| 432 |
+
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|
| 433 |
+
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|
| 434 |
+
"save": true
|
| 435 |
+
}
|
| 436 |
+
},
|
| 437 |
+
"force_torque": {
|
| 438 |
+
"enabled": true,
|
| 439 |
+
"keys": [
|
| 440 |
+
"robot0_ft_sensor",
|
| 441 |
+
"robot1_ft_sensor"
|
| 442 |
+
],
|
| 443 |
+
"save": true
|
| 444 |
+
},
|
| 445 |
+
"tactile": {
|
| 446 |
+
"enabled": true,
|
| 447 |
+
"fingers": [
|
| 448 |
+
"right",
|
| 449 |
+
"left"
|
| 450 |
+
],
|
| 451 |
+
"rows": 8,
|
| 452 |
+
"cols": 8,
|
| 453 |
+
"spacing": 0.001,
|
| 454 |
+
"save": true
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
},
|
| 458 |
+
"data_files_size_in_mb": 100,
|
| 459 |
+
"video_files_size_in_mb": 200,
|
| 460 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 461 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 462 |
+
}
|
pb-hetbi-cracker-box-jaw-v1/meta/stats.json
ADDED
|
@@ -0,0 +1,1320 @@
|
|
|
|
|
|
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| 203 |
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| 204 |
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| 206 |
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|
| 391 |
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|
| 392 |
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]
|
pb-hetbi-cracker-box-suction-v1/meta/info.json
ADDED
|
@@ -0,0 +1,455 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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|
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| 241 |
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"task_config": {
|
| 242 |
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"task_id": "pb-hetbi-cracker-box-suction-v1",
|
| 243 |
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"description": "Suction-only variant of the cracker-box slot-insertion task. Both arms are in the scene but the finger-gripper arm (robot 0) is frozen \u2014 only the suction-gripper arm (robot 1) is controllable. Suction must pick the box off the table and slide it into the slot on its own.\n",
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| 244 |
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},
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},
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"enabled": false
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}
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},
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"recording": {
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}
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},
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| 335 |
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"payload": "cracker_box",
|
| 336 |
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|
| 337 |
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|
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"PandaGripper",
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"PandaSuctionGripper"
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],
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{
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"type": "OSC_POSE",
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"robot0_gripper_qpos",
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"robot0_joint_pos",
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"robot0_joint_vel",
|
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"robot1_eef_pos",
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"robot1_eef_quat",
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"robot1_gripper_qpos",
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"robot1_joint_pos",
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|
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},
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},
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| 438 |
+
"tactile": {
|
| 439 |
+
"enabled": true,
|
| 440 |
+
"fingers": [
|
| 441 |
+
"right",
|
| 442 |
+
"left"
|
| 443 |
+
],
|
| 444 |
+
"rows": 8,
|
| 445 |
+
"cols": 8,
|
| 446 |
+
"spacing": 0.001,
|
| 447 |
+
"save": true
|
| 448 |
+
}
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"data_files_size_in_mb": 100,
|
| 452 |
+
"video_files_size_in_mb": 200,
|
| 453 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 454 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 455 |
+
}
|
pb-hetbi-cracker-box-suction-v1/meta/stats.json
ADDED
|
@@ -0,0 +1,1283 @@
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