| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "robosuite", | |
| "total_episodes": 5, | |
| "total_frames": 367, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 20, | |
| "splits": { | |
| "train": "0:5" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": null, | |
| "features": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 34 | |
| ], | |
| "names": [ | |
| "s0", | |
| "s1", | |
| "s2", | |
| "s3", | |
| "s4", | |
| "s5", | |
| "s6", | |
| "s7", | |
| "s8", | |
| "s9", | |
| "s10", | |
| "s11", | |
| "s12", | |
| "s13", | |
| "s14", | |
| "s15", | |
| "s16", | |
| "s17", | |
| "s18", | |
| "s19", | |
| "s20", | |
| "s21", | |
| "s22", | |
| "s23", | |
| "s24", | |
| "s25", | |
| "s26", | |
| "s27", | |
| "s28", | |
| "s29", | |
| "s30", | |
| "s31", | |
| "s32", | |
| "s33" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 8 | |
| ], | |
| "names": [ | |
| "a0", | |
| "a1", | |
| "a2", | |
| "a3", | |
| "a4", | |
| "a5", | |
| "a6", | |
| "a7" | |
| ] | |
| }, | |
| "reward": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "reward" | |
| ] | |
| }, | |
| "observation.gripper_to_hammer": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.gripper_to_nail": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.hammer_back_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.hammer_back_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "observation.hammer_center_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.hammer_center_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "observation.hammer_center_vel": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.hammer_front_nail_force": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation.hammer_front_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.hammer_front_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "observation.kin_hammer_main": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.kin_nail_main": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.kin_robot0_joint_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.nail_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.nail_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "observation.object-state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 41 | |
| ] | |
| }, | |
| "observation.robot0_eef_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.robot0_eef_quat": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "observation.robot0_eef_quat_site": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ] | |
| }, | |
| "observation.robot0_gripper_qpos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 2 | |
| ] | |
| }, | |
| "observation.robot0_gripper_qvel": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 2 | |
| ] | |
| }, | |
| "observation.robot0_joint_acc": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.robot0_joint_pos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.robot0_joint_pos_cos": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.robot0_joint_pos_sin": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.robot0_joint_vel": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.robot0_proprio-state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 50 | |
| ] | |
| }, | |
| "observation.task_idx": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| } | |
| } |