| { |
| "schema": "benchmark_baseline_control_contract.v2", |
| "status": "schema_verified_from_owner_reference", |
| "version": "g1_omnipicker_jointpos20_basevw_v1", |
| "action_dim": 22, |
| "state_dim": 23, |
| "action_channels": [ |
| { |
| "name": "idx21_arm_l_joint1", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx22_arm_l_joint2", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx23_arm_l_joint3", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx24_arm_l_joint4", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx25_arm_l_joint5", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx26_arm_l_joint6", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx27_arm_l_joint7", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx61_arm_r_joint1", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx62_arm_r_joint2", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx63_arm_r_joint3", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx64_arm_r_joint4", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx65_arm_r_joint5", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx66_arm_r_joint6", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx67_arm_r_joint7", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx01_body_joint1", |
| "unit": "m", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx02_body_joint2", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx11_head_joint1", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx12_head_joint2", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx41_gripper_l_outer_joint1", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "idx81_gripper_r_outer_joint1", |
| "unit": "rad", |
| "representation": "absolute_joint_position_target" |
| }, |
| { |
| "name": "base_forward_m_s", |
| "unit": "m/s", |
| "representation": "body_forward_velocity" |
| }, |
| { |
| "name": "base_yaw_rate_rad_s", |
| "unit": "rad/s", |
| "representation": "world_z_yaw_rate" |
| } |
| ], |
| "state_channels": [ |
| { |
| "name": "idx21_arm_l_joint1", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx22_arm_l_joint2", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx23_arm_l_joint3", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx24_arm_l_joint4", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx25_arm_l_joint5", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx26_arm_l_joint6", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx27_arm_l_joint7", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx61_arm_r_joint1", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx62_arm_r_joint2", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx63_arm_r_joint3", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx64_arm_r_joint4", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx65_arm_r_joint5", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx66_arm_r_joint6", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx67_arm_r_joint7", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx01_body_joint1", |
| "unit": "m", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx02_body_joint2", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx11_head_joint1", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx12_head_joint2", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx41_gripper_l_outer_joint1", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "idx81_gripper_r_outer_joint1", |
| "unit": "rad", |
| "representation": "measured_joint_position" |
| }, |
| { |
| "name": "base_x_world_m", |
| "unit": "m", |
| "representation": "measured_world_position" |
| }, |
| { |
| "name": "base_y_world_m", |
| "unit": "m", |
| "representation": "measured_world_position" |
| }, |
| { |
| "name": "base_yaw_world_unwrapped_rad", |
| "unit": "rad", |
| "representation": "measured_world_unwrapped_yaw" |
| } |
| ], |
| "base_action_indices": [ |
| 20, |
| 21 |
| ], |
| "base_command_frame": "body +X forward velocity; world +Z yaw rate; body +Y left", |
| "control_hz": 20, |
| "native_control_hz": 60, |
| "physics_hz": 240, |
| "command_alignment": "applied_absolute_joint_position_targets_and_body_forward_yaw_velocity; post_control_step_measured_joint_positions_and_measured_base_pose; recorded action_state_shift=0", |
| "sample_native_indices": "arange(2,N,3)", |
| "source_control_tick_first": 3, |
| "action_state_shift": 0, |
| "training_target_alignment": "recorded_same_step: action applied at source_control_tick; state/video after that step; no implicit row shift", |
| "camera_columns": { |
| "head": "observation.images.top_head", |
| "left": "observation.images.hand_left", |
| "right": "observation.images.hand_right" |
| }, |
| "base_limits_reference": { |
| "forward_m_s": 0.18, |
| "yaw_rate_rad_s": 0.25, |
| "linear_acceleration_m_s2": 0.12, |
| "angular_acceleration_rad_s2": 0.3 |
| }, |
| "representation_policy": "Preserve recorded absolute joint targets and body velocity commands. Never subtract base pose from base velocity. State width is 23; action width is 22.", |
| "dtype": "float32", |
| "training_timing_mode": "recorded_same_step", |
| "next_command_view": "optional explicit loader conversion, preserving raw rows; next 20 Hz command is not the first next native 60 Hz command", |
| "raw_action_state_shift": 0, |
| "base_controller_policy": { |
| "reference_version": "reference_turn_or_translate_v1", |
| "reference_exclusive_forward_and_turn": true, |
| "scope": "reference acquisition only", |
| "extended_policy_requires_version": true, |
| "force_zero_model_channels": false |
| }, |
| "base_limits_kind": "reference acquisition controller limits, not hardware limits or normalization bounds", |
| "state_yaw_policy": "xyzw quaternion; unwrap along entire episode; no wrapping at model input/output", |
| "fixed_channel_policy": "retain all targets, measured state, and active supervision even when constant", |
| "normalization_policy": "training-only statistics, separate from raw physical values, reversible; constant columns retain unit/effective finite scale and remain active", |
| "training_dataset": null, |
| "directions": { |
| "14": "lift displacement from minimum, positive up; not absolute height", |
| "15": "waist pitch, positive forward tilt; not yaw", |
| "16": "head yaw relative to torso, positive left; axis follows torso", |
| "17": "head pitch, positive down, negative up", |
| "18,19": "outer active gripper joint angle; large open, small closed; continuous radians", |
| "20": "body +X m/s, positive forward, negative reverse", |
| "21": "world +Z rad/s, positive CCW left viewed from above" |
| } |
| } |
|
|
