| { |
| "codebase_version": "v3.0", |
| "fps": 20, |
| "features": { |
| "observation.images.image": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.images.wrist_image": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "ee_position_x", |
| "ee_position_y", |
| "ee_position_z", |
| "ee_axis_angle_x", |
| "ee_axis_angle_y", |
| "ee_axis_angle_z", |
| "gripper_left_qpos", |
| "gripper_right_qpos" |
| ] |
| }, |
| "observation.environment_state": { |
| "dtype": "float64", |
| "shape": [ |
| 314 |
| ], |
| "names": [ |
| "simulation_time_seconds", |
| "qpos_robot0_joint1_angle", |
| "qpos_robot0_joint2_angle", |
| "qpos_robot0_joint3_angle", |
| "qpos_robot0_joint4_angle", |
| "qpos_robot0_joint5_angle", |
| "qpos_robot0_joint6_angle", |
| "qpos_robot0_joint7_angle", |
| "qpos_gripper0_right_finger_joint1_position", |
| "qpos_gripper0_right_finger_joint2_position", |
| "qpos_red_cube_joint0_position_x", |
| "qpos_red_cube_joint0_position_y", |
| "qpos_red_cube_joint0_position_z", |
| "qpos_red_cube_joint0_quaternion_w", |
| "qpos_red_cube_joint0_quaternion_x", |
| "qpos_red_cube_joint0_quaternion_y", |
| "qpos_red_cube_joint0_quaternion_z", |
| "qpos_blue_cube_joint0_position_x", |
| "qpos_blue_cube_joint0_position_y", |
| "qpos_blue_cube_joint0_position_z", |
| "qpos_blue_cube_joint0_quaternion_w", |
| "qpos_blue_cube_joint0_quaternion_x", |
| "qpos_blue_cube_joint0_quaternion_y", |
| "qpos_blue_cube_joint0_quaternion_z", |
| "qpos_green_cube_joint0_position_x", |
| "qpos_green_cube_joint0_position_y", |
| "qpos_green_cube_joint0_position_z", |
| "qpos_green_cube_joint0_quaternion_w", |
| "qpos_green_cube_joint0_quaternion_x", |
| "qpos_green_cube_joint0_quaternion_y", |
| "qpos_green_cube_joint0_quaternion_z", |
| "qvel_robot0_joint1_angular_velocity", |
| "qvel_robot0_joint2_angular_velocity", |
| "qvel_robot0_joint3_angular_velocity", |
| "qvel_robot0_joint4_angular_velocity", |
| "qvel_robot0_joint5_angular_velocity", |
| "qvel_robot0_joint6_angular_velocity", |
| "qvel_robot0_joint7_angular_velocity", |
| "qvel_gripper0_right_finger_joint1_linear_velocity", |
| "qvel_gripper0_right_finger_joint2_linear_velocity", |
| "qvel_red_cube_joint0_linear_velocity_x", |
| "qvel_red_cube_joint0_linear_velocity_y", |
| "qvel_red_cube_joint0_linear_velocity_z", |
| "qvel_red_cube_joint0_angular_velocity_x", |
| "qvel_red_cube_joint0_angular_velocity_y", |
| "qvel_red_cube_joint0_angular_velocity_z", |
| "qvel_blue_cube_joint0_linear_velocity_x", |
| "qvel_blue_cube_joint0_linear_velocity_y", |
| "qvel_blue_cube_joint0_linear_velocity_z", |
| "qvel_blue_cube_joint0_angular_velocity_x", |
| "qvel_blue_cube_joint0_angular_velocity_y", |
| "qvel_blue_cube_joint0_angular_velocity_z", |
| "qvel_green_cube_joint0_linear_velocity_x", |
| "qvel_green_cube_joint0_linear_velocity_y", |
| "qvel_green_cube_joint0_linear_velocity_z", |
| "qvel_green_cube_joint0_angular_velocity_x", |
| "qvel_green_cube_joint0_angular_velocity_y", |
| "qvel_green_cube_joint0_angular_velocity_z", |
| "qacc_warmstart_robot0_joint1_angular_velocity", |
| "qacc_warmstart_robot0_joint2_angular_velocity", |
| "qacc_warmstart_robot0_joint3_angular_velocity", |
| "qacc_warmstart_robot0_joint4_angular_velocity", |
| "qacc_warmstart_robot0_joint5_angular_velocity", |
| "qacc_warmstart_robot0_joint6_angular_velocity", |
| "qacc_warmstart_robot0_joint7_angular_velocity", |
| "qacc_warmstart_gripper0_right_finger_joint1_linear_velocity", |
| "qacc_warmstart_gripper0_right_finger_joint2_linear_velocity", |
| "qacc_warmstart_red_cube_joint0_linear_velocity_x", |
| "qacc_warmstart_red_cube_joint0_linear_velocity_y", |
| "qacc_warmstart_red_cube_joint0_linear_velocity_z", |
| "qacc_warmstart_red_cube_joint0_angular_velocity_x", |
| "qacc_warmstart_red_cube_joint0_angular_velocity_y", |
| "qacc_warmstart_red_cube_joint0_angular_velocity_z", |
| "qacc_warmstart_blue_cube_joint0_linear_velocity_x", |
| "qacc_warmstart_blue_cube_joint0_linear_velocity_y", |
| "qacc_warmstart_blue_cube_joint0_linear_velocity_z", |
| "qacc_warmstart_blue_cube_joint0_angular_velocity_x", |
| "qacc_warmstart_blue_cube_joint0_angular_velocity_y", |
| "qacc_warmstart_blue_cube_joint0_angular_velocity_z", |
| "qacc_warmstart_green_cube_joint0_linear_velocity_x", |
| "qacc_warmstart_green_cube_joint0_linear_velocity_y", |
| "qacc_warmstart_green_cube_joint0_linear_velocity_z", |
| "qacc_warmstart_green_cube_joint0_angular_velocity_x", |
| "qacc_warmstart_green_cube_joint0_angular_velocity_y", |
| "qacc_warmstart_green_cube_joint0_angular_velocity_z", |
| "control_robot0_torq_j1", |
| "control_robot0_torq_j2", |
| "control_robot0_torq_j3", |
| "control_robot0_torq_j4", |
| "control_robot0_torq_j5", |
| "control_robot0_torq_j6", |
| "control_robot0_torq_j7", |
| "control_gripper0_right_gripper_finger_joint1", |
| "control_gripper0_right_gripper_finger_joint2", |
| "qfrc_applied_robot0_joint1_angular_velocity", |
| "qfrc_applied_robot0_joint2_angular_velocity", |
| "qfrc_applied_robot0_joint3_angular_velocity", |
| "qfrc_applied_robot0_joint4_angular_velocity", |
| "qfrc_applied_robot0_joint5_angular_velocity", |
| "qfrc_applied_robot0_joint6_angular_velocity", |
| "qfrc_applied_robot0_joint7_angular_velocity", |
| "qfrc_applied_gripper0_right_finger_joint1_linear_velocity", |
| "qfrc_applied_gripper0_right_finger_joint2_linear_velocity", |
| "qfrc_applied_red_cube_joint0_linear_velocity_x", |
| "qfrc_applied_red_cube_joint0_linear_velocity_y", |
| "qfrc_applied_red_cube_joint0_linear_velocity_z", |
| "qfrc_applied_red_cube_joint0_angular_velocity_x", |
| "qfrc_applied_red_cube_joint0_angular_velocity_y", |
| "qfrc_applied_red_cube_joint0_angular_velocity_z", |
| "qfrc_applied_blue_cube_joint0_linear_velocity_x", |
| "qfrc_applied_blue_cube_joint0_linear_velocity_y", |
| "qfrc_applied_blue_cube_joint0_linear_velocity_z", |
| "qfrc_applied_blue_cube_joint0_angular_velocity_x", |
| "qfrc_applied_blue_cube_joint0_angular_velocity_y", |
| "qfrc_applied_blue_cube_joint0_angular_velocity_z", |
| "qfrc_applied_green_cube_joint0_linear_velocity_x", |
| "qfrc_applied_green_cube_joint0_linear_velocity_y", |
| "qfrc_applied_green_cube_joint0_linear_velocity_z", |
| "qfrc_applied_green_cube_joint0_angular_velocity_x", |
| "qfrc_applied_green_cube_joint0_angular_velocity_y", |
| "qfrc_applied_green_cube_joint0_angular_velocity_z", |
| "xfrc_applied_world_force_x", |
| "xfrc_applied_world_force_y", |
| "xfrc_applied_world_force_z", |
| "xfrc_applied_world_torque_x", |
| "xfrc_applied_world_torque_y", |
| "xfrc_applied_world_torque_z", |
| "xfrc_applied_table_force_x", |
| "xfrc_applied_table_force_y", |
| "xfrc_applied_table_force_z", |
| "xfrc_applied_table_torque_x", |
| "xfrc_applied_table_torque_y", |
| "xfrc_applied_table_torque_z", |
| "xfrc_applied_left_eef_target_force_x", |
| "xfrc_applied_left_eef_target_force_y", |
| "xfrc_applied_left_eef_target_force_z", |
| "xfrc_applied_left_eef_target_torque_x", |
| "xfrc_applied_left_eef_target_torque_y", |
| "xfrc_applied_left_eef_target_torque_z", |
| "xfrc_applied_right_eef_target_force_x", |
| "xfrc_applied_right_eef_target_force_y", |
| "xfrc_applied_right_eef_target_force_z", |
| "xfrc_applied_right_eef_target_torque_x", |
| "xfrc_applied_right_eef_target_torque_y", |
| "xfrc_applied_right_eef_target_torque_z", |
| "xfrc_applied_robot0_base_force_x", |
| "xfrc_applied_robot0_base_force_y", |
| "xfrc_applied_robot0_base_force_z", |
| "xfrc_applied_robot0_base_torque_x", |
| "xfrc_applied_robot0_base_torque_y", |
| "xfrc_applied_robot0_base_torque_z", |
| "xfrc_applied_robot0_link0_force_x", |
| "xfrc_applied_robot0_link0_force_y", |
| "xfrc_applied_robot0_link0_force_z", |
| "xfrc_applied_robot0_link0_torque_x", |
| "xfrc_applied_robot0_link0_torque_y", |
| "xfrc_applied_robot0_link0_torque_z", |
| "xfrc_applied_robot0_link1_force_x", |
| "xfrc_applied_robot0_link1_force_y", |
| "xfrc_applied_robot0_link1_force_z", |
| "xfrc_applied_robot0_link1_torque_x", |
| "xfrc_applied_robot0_link1_torque_y", |
| "xfrc_applied_robot0_link1_torque_z", |
| "xfrc_applied_robot0_link2_force_x", |
| "xfrc_applied_robot0_link2_force_y", |
| "xfrc_applied_robot0_link2_force_z", |
| "xfrc_applied_robot0_link2_torque_x", |
| "xfrc_applied_robot0_link2_torque_y", |
| "xfrc_applied_robot0_link2_torque_z", |
| "xfrc_applied_robot0_link3_force_x", |
| "xfrc_applied_robot0_link3_force_y", |
| "xfrc_applied_robot0_link3_force_z", |
| "xfrc_applied_robot0_link3_torque_x", |
| "xfrc_applied_robot0_link3_torque_y", |
| "xfrc_applied_robot0_link3_torque_z", |
| "xfrc_applied_robot0_link4_force_x", |
| "xfrc_applied_robot0_link4_force_y", |
| "xfrc_applied_robot0_link4_force_z", |
| "xfrc_applied_robot0_link4_torque_x", |
| "xfrc_applied_robot0_link4_torque_y", |
| "xfrc_applied_robot0_link4_torque_z", |
| "xfrc_applied_robot0_link5_force_x", |
| "xfrc_applied_robot0_link5_force_y", |
| "xfrc_applied_robot0_link5_force_z", |
| "xfrc_applied_robot0_link5_torque_x", |
| "xfrc_applied_robot0_link5_torque_y", |
| "xfrc_applied_robot0_link5_torque_z", |
| "xfrc_applied_robot0_link6_force_x", |
| "xfrc_applied_robot0_link6_force_y", |
| "xfrc_applied_robot0_link6_force_z", |
| "xfrc_applied_robot0_link6_torque_x", |
| "xfrc_applied_robot0_link6_torque_y", |
| "xfrc_applied_robot0_link6_torque_z", |
| "xfrc_applied_robot0_link7_force_x", |
| "xfrc_applied_robot0_link7_force_y", |
| "xfrc_applied_robot0_link7_force_z", |
| "xfrc_applied_robot0_link7_torque_x", |
| "xfrc_applied_robot0_link7_torque_y", |
| "xfrc_applied_robot0_link7_torque_z", |
| "xfrc_applied_robot0_right_hand_force_x", |
| "xfrc_applied_robot0_right_hand_force_y", |
| "xfrc_applied_robot0_right_hand_force_z", |
| "xfrc_applied_robot0_right_hand_torque_x", |
| "xfrc_applied_robot0_right_hand_torque_y", |
| "xfrc_applied_robot0_right_hand_torque_z", |
| "xfrc_applied_gripper0_right_right_gripper_force_x", |
| "xfrc_applied_gripper0_right_right_gripper_force_y", |
| "xfrc_applied_gripper0_right_right_gripper_force_z", |
| "xfrc_applied_gripper0_right_right_gripper_torque_x", |
| "xfrc_applied_gripper0_right_right_gripper_torque_y", |
| "xfrc_applied_gripper0_right_right_gripper_torque_z", |
| "xfrc_applied_gripper0_right_eef_force_x", |
| "xfrc_applied_gripper0_right_eef_force_y", |
| "xfrc_applied_gripper0_right_eef_force_z", |
| "xfrc_applied_gripper0_right_eef_torque_x", |
| "xfrc_applied_gripper0_right_eef_torque_y", |
| "xfrc_applied_gripper0_right_eef_torque_z", |
| "xfrc_applied_gripper0_right_leftfinger_force_x", |
| "xfrc_applied_gripper0_right_leftfinger_force_y", |
| "xfrc_applied_gripper0_right_leftfinger_force_z", |
| "xfrc_applied_gripper0_right_leftfinger_torque_x", |
| "xfrc_applied_gripper0_right_leftfinger_torque_y", |
| "xfrc_applied_gripper0_right_leftfinger_torque_z", |
| "xfrc_applied_gripper0_right_finger_joint1_tip_force_x", |
| "xfrc_applied_gripper0_right_finger_joint1_tip_force_y", |
| "xfrc_applied_gripper0_right_finger_joint1_tip_force_z", |
| "xfrc_applied_gripper0_right_finger_joint1_tip_torque_x", |
| "xfrc_applied_gripper0_right_finger_joint1_tip_torque_y", |
| "xfrc_applied_gripper0_right_finger_joint1_tip_torque_z", |
| "xfrc_applied_gripper0_right_rightfinger_force_x", |
| "xfrc_applied_gripper0_right_rightfinger_force_y", |
| "xfrc_applied_gripper0_right_rightfinger_force_z", |
| "xfrc_applied_gripper0_right_rightfinger_torque_x", |
| "xfrc_applied_gripper0_right_rightfinger_torque_y", |
| "xfrc_applied_gripper0_right_rightfinger_torque_z", |
| "xfrc_applied_gripper0_right_finger_joint2_tip_force_x", |
| "xfrc_applied_gripper0_right_finger_joint2_tip_force_y", |
| "xfrc_applied_gripper0_right_finger_joint2_tip_force_z", |
| "xfrc_applied_gripper0_right_finger_joint2_tip_torque_x", |
| "xfrc_applied_gripper0_right_finger_joint2_tip_torque_y", |
| "xfrc_applied_gripper0_right_finger_joint2_tip_torque_z", |
| "xfrc_applied_fixed_mount0_base_force_x", |
| "xfrc_applied_fixed_mount0_base_force_y", |
| "xfrc_applied_fixed_mount0_base_force_z", |
| "xfrc_applied_fixed_mount0_base_torque_x", |
| "xfrc_applied_fixed_mount0_base_torque_y", |
| "xfrc_applied_fixed_mount0_base_torque_z", |
| "xfrc_applied_fixed_mount0_controller_box_force_x", |
| "xfrc_applied_fixed_mount0_controller_box_force_y", |
| "xfrc_applied_fixed_mount0_controller_box_force_z", |
| "xfrc_applied_fixed_mount0_controller_box_torque_x", |
| "xfrc_applied_fixed_mount0_controller_box_torque_y", |
| "xfrc_applied_fixed_mount0_controller_box_torque_z", |
| "xfrc_applied_fixed_mount0_pedestal_feet_force_x", |
| "xfrc_applied_fixed_mount0_pedestal_feet_force_y", |
| "xfrc_applied_fixed_mount0_pedestal_feet_force_z", |
| "xfrc_applied_fixed_mount0_pedestal_feet_torque_x", |
| "xfrc_applied_fixed_mount0_pedestal_feet_torque_y", |
| "xfrc_applied_fixed_mount0_pedestal_feet_torque_z", |
| "xfrc_applied_fixed_mount0_torso_force_x", |
| "xfrc_applied_fixed_mount0_torso_force_y", |
| "xfrc_applied_fixed_mount0_torso_force_z", |
| "xfrc_applied_fixed_mount0_torso_torque_x", |
| "xfrc_applied_fixed_mount0_torso_torque_y", |
| "xfrc_applied_fixed_mount0_torso_torque_z", |
| "xfrc_applied_fixed_mount0_pedestal_force_x", |
| "xfrc_applied_fixed_mount0_pedestal_force_y", |
| "xfrc_applied_fixed_mount0_pedestal_force_z", |
| "xfrc_applied_fixed_mount0_pedestal_torque_x", |
| "xfrc_applied_fixed_mount0_pedestal_torque_y", |
| "xfrc_applied_fixed_mount0_pedestal_torque_z", |
| "xfrc_applied_red_cube_main_force_x", |
| "xfrc_applied_red_cube_main_force_y", |
| "xfrc_applied_red_cube_main_force_z", |
| "xfrc_applied_red_cube_main_torque_x", |
| "xfrc_applied_red_cube_main_torque_y", |
| "xfrc_applied_red_cube_main_torque_z", |
| "xfrc_applied_blue_cube_main_force_x", |
| "xfrc_applied_blue_cube_main_force_y", |
| "xfrc_applied_blue_cube_main_force_z", |
| "xfrc_applied_blue_cube_main_torque_x", |
| "xfrc_applied_blue_cube_main_torque_y", |
| "xfrc_applied_blue_cube_main_torque_z", |
| "xfrc_applied_green_cube_main_force_x", |
| "xfrc_applied_green_cube_main_force_y", |
| "xfrc_applied_green_cube_main_force_z", |
| "xfrc_applied_green_cube_main_torque_x", |
| "xfrc_applied_green_cube_main_torque_y", |
| "xfrc_applied_green_cube_main_torque_z", |
| "mocap_left_eef_target_position_x", |
| "mocap_left_eef_target_position_y", |
| "mocap_left_eef_target_position_z", |
| "mocap_right_eef_target_position_x", |
| "mocap_right_eef_target_position_y", |
| "mocap_right_eef_target_position_z", |
| "mocap_left_eef_target_quaternion_w", |
| "mocap_left_eef_target_quaternion_x", |
| "mocap_left_eef_target_quaternion_y", |
| "mocap_left_eef_target_quaternion_z", |
| "mocap_right_eef_target_quaternion_w", |
| "mocap_right_eef_target_quaternion_x", |
| "mocap_right_eef_target_quaternion_y", |
| "mocap_right_eef_target_quaternion_z", |
| "controller_robot0_right_initial_joint_robot0_joint1", |
| "controller_robot0_right_initial_joint_robot0_joint2", |
| "controller_robot0_right_initial_joint_robot0_joint3", |
| "controller_robot0_right_initial_joint_robot0_joint4", |
| "controller_robot0_right_initial_joint_robot0_joint5", |
| "controller_robot0_right_initial_joint_robot0_joint6", |
| "controller_robot0_right_initial_joint_robot0_joint7", |
| "controller_robot0_right_gripper_initial_joint_joint_0", |
| "controller_robot0_right_gripper_initial_joint_joint_1", |
| "gripper_robot0_right_current_action_0", |
| "gripper_robot0_right_current_action_1" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "normalized_ee_position_delta_x", |
| "normalized_ee_position_delta_y", |
| "normalized_ee_position_delta_z", |
| "normalized_ee_rotation_delta_x", |
| "normalized_ee_rotation_delta_y", |
| "normalized_ee_rotation_delta_z", |
| "normalized_gripper_command" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
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