| { | |
| "episodes": [ | |
| "ep000000", | |
| "ep000001", | |
| "ep000002", | |
| "ep000003", | |
| "ep000004", | |
| "ep000005", | |
| "ep000006", | |
| "ep000007", | |
| "ep000008", | |
| "ep000009", | |
| "ep000010", | |
| "ep000011", | |
| "ep000012", | |
| "ep000013", | |
| "ep000014", | |
| "ep000015", | |
| "ep000016", | |
| "ep000017", | |
| "ep000018", | |
| "ep000019", | |
| "ep000020", | |
| "ep000021", | |
| "ep000022", | |
| "ep000023", | |
| "ep000024" | |
| ], | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "field_descriptions": { | |
| "ee_pose_action_left": { | |
| "absolute": true, | |
| "dtype": "float64", | |
| "end": 16, | |
| "start": 0 | |
| }, | |
| "ee_pose_action_right": { | |
| "absolute": true, | |
| "dtype": "float64", | |
| "end": 32, | |
| "start": 16 | |
| }, | |
| "gripper_pos_action_left": { | |
| "absolute": true, | |
| "dtype": "float64", | |
| "end": 33, | |
| "start": 32 | |
| }, | |
| "gripper_pos_action_right": { | |
| "absolute": true, | |
| "dtype": "float64", | |
| "end": 34, | |
| "start": 33 | |
| }, | |
| "joint_pos_action_left": { | |
| "absolute": true, | |
| "dtype": "float64", | |
| "end": 40, | |
| "start": 34 | |
| }, | |
| "joint_pos_action_right": { | |
| "absolute": true, | |
| "dtype": "float64", | |
| "end": 46, | |
| "start": 40 | |
| } | |
| }, | |
| "shape": [ | |
| 46 | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "field_descriptions": { | |
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| "absolute": true, | |
| "dtype": "float64", | |
| "end": 16, | |
| "start": 0 | |
| }, | |
| "ee_pose_obs_right": { | |
| "absolute": true, | |
| "dtype": "float64", | |
| "end": 32, | |
| "start": 16 | |
| }, | |
| "gripper_pos_obs_left": { | |
| "absolute": true, | |
| "dtype": "float64", | |
| "end": 33, | |
| "start": 32 | |
| }, | |
| "gripper_pos_obs_right": { | |
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| "dtype": "float64", | |
| "end": 34, | |
| "start": 33 | |
| }, | |
| "joint_pos_obs_left": { | |
| "absolute": true, | |
| "dtype": "float64", | |
| "end": 40, | |
| "start": 34 | |
| }, | |
| "joint_pos_obs_right": { | |
| "absolute": true, | |
| "dtype": "float64", | |
| "end": 46, | |
| "start": 40 | |
| } | |
| }, | |
| "shape": [ | |
| 46 | |
| ] | |
| }, | |
| "observations": { | |
| "hand_left": { | |
| "color_space": "RGB", | |
| "dtype": "uint8", | |
| "encoding": "png", | |
| "role": "initial_observation" | |
| }, | |
| "hand_right": { | |
| "color_space": "RGB", | |
| "dtype": "uint8", | |
| "encoding": "png", | |
| "role": "initial_observation" | |
| }, | |
| "top_head": { | |
| "color_space": "RGB", | |
| "dtype": "uint8", | |
| "encoding": "png", | |
| "role": "initial_observation" | |
| } | |
| } | |
| }, | |
| "fps": 30.0, | |
| "schema_version": "acwmbench.inference.v1", | |
| "task": "pickfruit" | |
| } | |