| { |
| "aic_contact_recovery_features": { |
| "config": { |
| "force_delta_thresholds_n": [ |
| 1.0, |
| 3.0, |
| 5.0, |
| 7.0 |
| ] |
| }, |
| "feature_names": [ |
| "force_thresh_1.time_since_first_sec", |
| "force_thresh_1.first_delta.x", |
| "force_thresh_1.first_delta.y", |
| "force_thresh_1.first_delta.z", |
| "force_thresh_1.first_delta_norm", |
| "force_thresh_1.time_since_latest_sec", |
| "force_thresh_1.latest_delta.x", |
| "force_thresh_1.latest_delta.y", |
| "force_thresh_1.latest_delta.z", |
| "force_thresh_1.latest_delta_norm", |
| "force_thresh_3.time_since_first_sec", |
| "force_thresh_3.first_delta.x", |
| "force_thresh_3.first_delta.y", |
| "force_thresh_3.first_delta.z", |
| "force_thresh_3.first_delta_norm", |
| "force_thresh_3.time_since_latest_sec", |
| "force_thresh_3.latest_delta.x", |
| "force_thresh_3.latest_delta.y", |
| "force_thresh_3.latest_delta.z", |
| "force_thresh_3.latest_delta_norm", |
| "force_thresh_5.time_since_first_sec", |
| "force_thresh_5.first_delta.x", |
| "force_thresh_5.first_delta.y", |
| "force_thresh_5.first_delta.z", |
| "force_thresh_5.first_delta_norm", |
| "force_thresh_5.time_since_latest_sec", |
| "force_thresh_5.latest_delta.x", |
| "force_thresh_5.latest_delta.y", |
| "force_thresh_5.latest_delta.z", |
| "force_thresh_5.latest_delta_norm", |
| "force_thresh_7.time_since_first_sec", |
| "force_thresh_7.first_delta.x", |
| "force_thresh_7.first_delta.y", |
| "force_thresh_7.first_delta.z", |
| "force_thresh_7.first_delta_norm", |
| "force_thresh_7.time_since_latest_sec", |
| "force_thresh_7.latest_delta.x", |
| "force_thresh_7.latest_delta.y", |
| "force_thresh_7.latest_delta.z", |
| "force_thresh_7.latest_delta_norm" |
| ], |
| "method": "causal_one_step_force_delta_threshold_memory", |
| "schema_version": "aic_contact_recovery_features/v3" |
| }, |
| "chunks_size": 1000, |
| "codebase_version": "v3.0", |
| "data_files_size_in_mb": 100, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "delta_position.x", |
| "delta_position.y", |
| "delta_position.z", |
| "delta_rotation.x", |
| "delta_rotation.y", |
| "delta_rotation.z" |
| ], |
| "shape": [ |
| 6 |
| ] |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "index": { |
| "dtype": "int64", |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.images.center_camera": { |
| "dtype": "video", |
| "info": { |
| "has_audio": false, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.fps": 20, |
| "video.height": 256, |
| "video.is_depth_map": false, |
| "video.pix_fmt": "yuv420p", |
| "video.width": 288 |
| }, |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 256, |
| 288, |
| 3 |
| ] |
| }, |
| "observation.images.left_camera": { |
| "dtype": "video", |
| "info": { |
| "has_audio": false, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.fps": 20, |
| "video.height": 256, |
| "video.is_depth_map": false, |
| "video.pix_fmt": "yuv420p", |
| "video.width": 288 |
| }, |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 256, |
| 288, |
| 3 |
| ] |
| }, |
| "observation.images.right_camera": { |
| "dtype": "video", |
| "info": { |
| "has_audio": false, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.fps": 20, |
| "video.height": 256, |
| "video.is_depth_map": false, |
| "video.pix_fmt": "yuv420p", |
| "video.width": 288 |
| }, |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 256, |
| 288, |
| 3 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "tcp_pose.position.x", |
| "tcp_pose.position.y", |
| "tcp_pose.position.z", |
| "tcp_pose.orientation.x", |
| "tcp_pose.orientation.y", |
| "tcp_pose.orientation.z", |
| "tcp_pose.orientation.w", |
| "tcp_velocity.linear.x", |
| "tcp_velocity.linear.y", |
| "tcp_velocity.linear.z", |
| "tcp_velocity.angular.x", |
| "tcp_velocity.angular.y", |
| "tcp_velocity.angular.z", |
| "tcp_error.x", |
| "tcp_error.y", |
| "tcp_error.z", |
| "tcp_error.rx", |
| "tcp_error.ry", |
| "tcp_error.rz", |
| "joint_positions.0", |
| "joint_positions.1", |
| "joint_positions.2", |
| "joint_positions.3", |
| "joint_positions.4", |
| "joint_positions.5", |
| "joint_positions.6", |
| "wrist_wrench.force.x", |
| "wrist_wrench.force.y", |
| "wrist_wrench.force.z", |
| "wrist_wrench.torque.x", |
| "wrist_wrench.torque.y", |
| "wrist_wrench.torque.z", |
| "force_thresh_1.time_since_first_sec", |
| "force_thresh_1.first_delta.x", |
| "force_thresh_1.first_delta.y", |
| "force_thresh_1.first_delta.z", |
| "force_thresh_1.first_delta_norm", |
| "force_thresh_1.time_since_latest_sec", |
| "force_thresh_1.latest_delta.x", |
| "force_thresh_1.latest_delta.y", |
| "force_thresh_1.latest_delta.z", |
| "force_thresh_1.latest_delta_norm", |
| "force_thresh_3.time_since_first_sec", |
| "force_thresh_3.first_delta.x", |
| "force_thresh_3.first_delta.y", |
| "force_thresh_3.first_delta.z", |
| "force_thresh_3.first_delta_norm", |
| "force_thresh_3.time_since_latest_sec", |
| "force_thresh_3.latest_delta.x", |
| "force_thresh_3.latest_delta.y", |
| "force_thresh_3.latest_delta.z", |
| "force_thresh_3.latest_delta_norm", |
| "force_thresh_5.time_since_first_sec", |
| "force_thresh_5.first_delta.x", |
| "force_thresh_5.first_delta.y", |
| "force_thresh_5.first_delta.z", |
| "force_thresh_5.first_delta_norm", |
| "force_thresh_5.time_since_latest_sec", |
| "force_thresh_5.latest_delta.x", |
| "force_thresh_5.latest_delta.y", |
| "force_thresh_5.latest_delta.z", |
| "force_thresh_5.latest_delta_norm", |
| "force_thresh_7.time_since_first_sec", |
| "force_thresh_7.first_delta.x", |
| "force_thresh_7.first_delta.y", |
| "force_thresh_7.first_delta.z", |
| "force_thresh_7.first_delta_norm", |
| "force_thresh_7.time_since_latest_sec", |
| "force_thresh_7.latest_delta.x", |
| "force_thresh_7.latest_delta.y", |
| "force_thresh_7.latest_delta.z", |
| "force_thresh_7.latest_delta_norm" |
| ], |
| "shape": [ |
| 72 |
| ] |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| } |
| }, |
| "fps": 20, |
| "robot_type": "ur5e_aic", |
| "splits": { |
| "train": "0:1" |
| }, |
| "total_episodes": 1, |
| "total_frames": 479, |
| "total_tasks": 1, |
| "video_files_size_in_mb": 200, |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" |
| } |
