{ "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", 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"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", 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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "robot_type": "panda", "splits": { "train": "0:3000" } }