| { |
| "robot_type": "droid_franka_robotiq", |
| "robot_class": "arm7g1", |
| "control_rate": 15, |
| "features": { |
| "camera_obs/front_cam_rgb": { |
| "role": "observation", |
| "type": "rgb" |
| }, |
| "camera_obs/wrist_camera_rgb": { |
| "role": "observation", |
| "type": "rgb" |
| }, |
| "policy/joint_pos": { |
| "role": "observation", |
| "state_type": "JOINT_ABS_POS", |
| "state_representation": "REAL", |
| "dtype": "float32", |
| "units": "rad", |
| "shape": [7], |
| "names": [ |
| "panda_joint1", |
| "panda_joint2", |
| "panda_joint3", |
| "panda_joint4", |
| "panda_joint5", |
| "panda_joint6", |
| "panda_joint7" |
| ] |
| }, |
| "policy/gripper_pos": { |
| "role": "observation", |
| "state_type": "JOINT_ABS_POS", |
| "state_representation": "NORM01", |
| "dtype": "float32", |
| "units": "none", |
| "shape": [1], |
| "names": ["gripper.opening"] |
| }, |
| "policy/eef_pos": { |
| "role": "observation", |
| "state_type": "EE_ABS_POS", |
| "state_representation": "XYZ", |
| "frame": "world", |
| "dtype": "float32", |
| "units": "m", |
| "shape": [3], |
| "names": ["eef_pos.x", "eef_pos.y", "eef_pos.z"] |
| }, |
| "policy/eef_quat": { |
| "role": "observation", |
| "state_type": "EE_ABS_ROT", |
| "state_representation": "QUATWXYZ", |
| "frame": "world", |
| "dtype": "float32", |
| "units": "none", |
| "shape": [4], |
| "names": ["eef_quat.w", "eef_quat.x", "eef_quat.y", "eef_quat.z"] |
| }, |
| "policy/held_part_pose": { |
| "role": "observation", |
| "state_type": "OBJECT_ABS_POSE", |
| "state_representation": "XYZ_QUATXYZW", |
| "frame": "env_local", |
| "dtype": "float32", |
| "units": "m", |
| "shape": [7], |
| "names": ["held.x", "held.y", "held.z", "held.qx", "held.qy", "held.qz", "held.qw"], |
| "comment": "Privileged (PA-RL critic only); policy adapters must not consume." |
| }, |
| "policy/fixed_part_pose": { |
| "role": "observation", |
| "state_type": "OBJECT_ABS_POSE", |
| "state_representation": "XYZ_QUATXYZW", |
| "frame": "env_local", |
| "dtype": "float32", |
| "units": "m", |
| "shape": [7], |
| "names": ["fixed.x", "fixed.y", "fixed.z", "fixed.qx", "fixed.qy", "fixed.qz", "fixed.qw"], |
| "comment": "Privileged (PA-RL critic only); policy adapters must not consume." |
| }, |
| "action": { |
| "role": "action", |
| "state_type": "JOINT_ABS_POS", |
| "dtype": "float32", |
| "shape": [8], |
| "names": [ |
| "panda_joint1", |
| "panda_joint2", |
| "panda_joint3", |
| "panda_joint4", |
| "panda_joint5", |
| "panda_joint6", |
| "panda_joint7", |
| "gripper.open_close" |
| ], |
| "comment": "Dims 0-6: absolute joint targets (rad, REAL). Dim 7: gripper (NORM01; >0.5 closes)." |
| } |
| }, |
| "comment": "assembly_bench DROID (droid_abs_joint_pos): Franka Panda 7-DoF + Robotiq 2F-85. Wire keys match Arena obs groups. One action feature per the v0 contract: 7 absolute joint targets + binary gripper. Omits policy/actions and policy/robot_joint_pos (redundant with action echo / full articulation)." |
| } |
|
|
