| { |
| "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 |
| } |
| } |
| } |