| { |
| "codebase_version": "v3.0", |
| "robot_type": "Panda", |
| "task_id": "pb-pr-linear-intercept-v1", |
| "total_episodes": 10, |
| "total_frames": 2175, |
| "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.force_torque_world": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "fps": 100 |
| }, |
| "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": { |
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| 7 |
| ], |
| "fps": 100 |
| }, |
| "observation.robot0_joint_vel": { |
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| 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_exo_bird_cam": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "fps": 25, |
| "video_path": "videos/observation.rgb_exo_bird_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" |
| }, |
| "frame_index.rgb_exo_bird_cam": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "description": "Video frame index for rgb_exo_bird_cam", |
| "fps": 100 |
| }, |
| "observation.rgb_exo_front_cam": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "fps": 25, |
| "video_path": "videos/observation.rgb_exo_front_cam/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" |
| }, |
| "frame_index.rgb_exo_front_cam": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "description": "Video frame index for rgb_exo_front_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-linear-intercept-v1", |
| "description": "Single arm: intercept and grasp a sphere sliding in a straight line across the table, then hold it for the required steps.", |
| "max_episode_steps": 1000, |
| "reward_type": "sparse", |
| "action_mode": "cartesian_delta", |
| "control_freq": 100, |
| "scene": { |
| "table": { |
| "full_size": [ |
| 0.7, |
| 0.7, |
| 0.05 |
| ], |
| "height": 0.8, |
| "offset": null |
| }, |
| "robot_offset": null |
| }, |
| "placement": { |
| "center": null, |
| "x_range": 0.12, |
| "y_range": 0.12 |
| }, |
| "randomization": { |
| "object_color": { |
| "enabled": true |
| }, |
| "table_color": { |
| "enabled": false |
| }, |
| "lighting": { |
| "position": true, |
| "color": false |
| } |
| }, |
| "task": { |
| "speed_range": [ |
| 0.2, |
| 0.4 |
| ], |
| "object_radius": 0.02, |
| "hold_steps": 30 |
| }, |
| "task_conditions": { |
| "success": { |
| "score_threshold": 1.0 |
| }, |
| "failure": { |
| "floor_z_threshold": 0.05 |
| } |
| }, |
| "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": "OSC_POSE", |
| "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 |
| }, |
| "exo_front_cam": { |
| "enabled": true, |
| "robosuite_name": "frontview", |
| "width": 640, |
| "height": 480, |
| "depth": false, |
| "save": true |
| }, |
| "exo_bird_cam": { |
| "enabled": true, |
| "robosuite_name": "birdview", |
| "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", |
| "total_videos": 3, |
| "total_chunks": 1, |
| "splits": { |
| "train": "0:10" |
| } |
| } |
