| { |
| "codebase_version": "v3.0", |
| "robot_type": "hepha_mujoco", |
| "fps": 30, |
| "total_episodes": 100, |
| "total_frames": 200341, |
| "total_tasks": 1, |
| "total_videos": 100, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "interaction_mode": "physical", |
| "record_resampling": "time", |
| "record_normalized_joint_speed": 0.35, |
| "domain_randomization": { |
| "enabled": true, |
| "config": { |
| "body_mass_fraction": 0.15, |
| "friction_fraction": 0.2, |
| "damping_fraction": 0.2, |
| "actuator_gain_fraction": 0.15, |
| "drawer_rack_position_std_m": 0.004, |
| "camera_position_std_m": 0.007, |
| "camera_rotation_std_deg": 1.5, |
| "camera_fovy_std_deg": 3.0, |
| "light_position_std_m": 0.08, |
| "light_direction_std": 0.05, |
| "light_intensity_fraction": 0.25, |
| "joint_position_noise_fraction": 0.003, |
| "action_target_noise_fraction": 0.0, |
| "brightness_fraction": 0.18, |
| "image_noise_std": 5.0, |
| "latency_steps_min": 0, |
| "latency_steps_max": 0 |
| }, |
| "random_visual_colors": true, |
| "per_episode_metadata": "meta/episodes/chunk-000/file-000.parquet:randomization" |
| }, |
| "joint_normalization": { |
| "type": "min_max_0_1", |
| "joint_names": [ |
| "base_link_base_cnc_x_joint", |
| "cnc_x_link_cnc_x_cnc_y_joint", |
| "cnc_y_link_cnc_y_head_joint", |
| "head_link_head_shoulder_l_joint", |
| "shoulder_l_link_shoulder_l_forearm_l_joint", |
| "forearm_l_link_forearm_l_arm_l_joint", |
| "arm_l_link_arm_l_wrist_l_joint", |
| "wrist_l_link_wrist_l_hand_l_joint", |
| "head_link_head_shoulder_r_joint", |
| "shoulder_r_link_shoulder_r_forearm_r_joint", |
| "forearm_r_link_forearm_r_arm_r_joint", |
| "arm_r_link_arm_r_wrist_r_joint", |
| "wrist_r_link_wrist_r_hand_r_joint", |
| "hand_l_link_hand_l_finger_l_joint", |
| "hand_r_link_hand_r_finger_r_joint" |
| ], |
| "lower": [ |
| -0.1, |
| -0.2, |
| -0.1, |
| -1.5, |
| -0.5, |
| -1.0, |
| -1.0, |
| -1.0, |
| -1.5, |
| -0.5, |
| -1.0, |
| -1.0, |
| -1.0, |
| 0.0, |
| 0.0 |
| ], |
| "upper": [ |
| 0.23, |
| 0.2, |
| 0.14, |
| 1.5, |
| 1.5, |
| 0.5, |
| 1.0, |
| 1.0, |
| 1.5, |
| 1.5, |
| 0.5, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "formula": "normalized = (raw - lower) / (upper - lower)" |
| }, |
| "drawer_observation": { |
| "key": "observation.drawer_index", |
| "type": "integer_1_to_9", |
| "normalized_formula": "drawer_index_normalized = (drawer_index - 1) / 8" |
| }, |
| "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", |
| "splits": { |
| "train": "0:100" |
| }, |
| "features": { |
| "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 |
| }, |
| "episode.drawer_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode.cube_position": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "episode.cube_quaternion": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "w", |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "observation.drawer_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "drawer_index" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 15 |
| ], |
| "names": [ |
| "base_link_base_cnc_x_joint_normalized", |
| "cnc_x_link_cnc_x_cnc_y_joint_normalized", |
| "cnc_y_link_cnc_y_head_joint_normalized", |
| "head_link_head_shoulder_l_joint_normalized", |
| "shoulder_l_link_shoulder_l_forearm_l_joint_normalized", |
| "forearm_l_link_forearm_l_arm_l_joint_normalized", |
| "arm_l_link_arm_l_wrist_l_joint_normalized", |
| "wrist_l_link_wrist_l_hand_l_joint_normalized", |
| "head_link_head_shoulder_r_joint_normalized", |
| "shoulder_r_link_shoulder_r_forearm_r_joint_normalized", |
| "forearm_r_link_forearm_r_arm_r_joint_normalized", |
| "arm_r_link_arm_r_wrist_r_joint_normalized", |
| "wrist_r_link_wrist_r_hand_r_joint_normalized", |
| "hand_l_link_hand_l_finger_l_joint_normalized", |
| "hand_r_link_hand_r_finger_r_joint_normalized" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 15 |
| ], |
| "names": [ |
| "target_base_link_base_cnc_x_joint_normalized", |
| "target_cnc_x_link_cnc_x_cnc_y_joint_normalized", |
| "target_cnc_y_link_cnc_y_head_joint_normalized", |
| "target_head_link_head_shoulder_l_joint_normalized", |
| "target_shoulder_l_link_shoulder_l_forearm_l_joint_normalized", |
| "target_forearm_l_link_forearm_l_arm_l_joint_normalized", |
| "target_arm_l_link_arm_l_wrist_l_joint_normalized", |
| "target_wrist_l_link_wrist_l_hand_l_joint_normalized", |
| "target_head_link_head_shoulder_r_joint_normalized", |
| "target_shoulder_r_link_shoulder_r_forearm_r_joint_normalized", |
| "target_forearm_r_link_forearm_r_arm_r_joint_normalized", |
| "target_arm_r_link_arm_r_wrist_r_joint_normalized", |
| "target_wrist_r_link_wrist_r_hand_r_joint_normalized", |
| "target_hand_l_link_hand_l_finger_l_joint_normalized", |
| "target_hand_r_link_hand_r_finger_r_joint_normalized" |
| ] |
| }, |
| "observation.state_raw": { |
| "dtype": "float32", |
| "shape": [ |
| 15 |
| ], |
| "names": [ |
| "base_link_base_cnc_x_joint", |
| "cnc_x_link_cnc_x_cnc_y_joint", |
| "cnc_y_link_cnc_y_head_joint", |
| "head_link_head_shoulder_l_joint", |
| "shoulder_l_link_shoulder_l_forearm_l_joint", |
| "forearm_l_link_forearm_l_arm_l_joint", |
| "arm_l_link_arm_l_wrist_l_joint", |
| "wrist_l_link_wrist_l_hand_l_joint", |
| "head_link_head_shoulder_r_joint", |
| "shoulder_r_link_shoulder_r_forearm_r_joint", |
| "forearm_r_link_forearm_r_arm_r_joint", |
| "arm_r_link_arm_r_wrist_r_joint", |
| "wrist_r_link_wrist_r_hand_r_joint", |
| "hand_l_link_hand_l_finger_l_joint", |
| "hand_r_link_hand_r_finger_r_joint" |
| ] |
| }, |
| "action_raw": { |
| "dtype": "float32", |
| "shape": [ |
| 15 |
| ], |
| "names": [ |
| "target_base_link_base_cnc_x_joint", |
| "target_cnc_x_link_cnc_x_cnc_y_joint", |
| "target_cnc_y_link_cnc_y_head_joint", |
| "target_head_link_head_shoulder_l_joint", |
| "target_shoulder_l_link_shoulder_l_forearm_l_joint", |
| "target_forearm_l_link_forearm_l_arm_l_joint", |
| "target_arm_l_link_arm_l_wrist_l_joint", |
| "target_wrist_l_link_wrist_l_hand_l_joint", |
| "target_head_link_head_shoulder_r_joint", |
| "target_shoulder_r_link_shoulder_r_forearm_r_joint", |
| "target_forearm_r_link_forearm_r_arm_r_joint", |
| "target_arm_r_link_arm_r_wrist_r_joint", |
| "target_wrist_r_link_wrist_r_hand_r_joint", |
| "target_hand_l_link_hand_l_finger_l_joint", |
| "target_hand_r_link_hand_r_finger_r_joint" |
| ] |
| }, |
| "observation.images.head_camera": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ] |
| } |
| } |
| } |
|
|
