meta/hud_contract.json

{
  "env_contract": {
    "robot_type": "franka_panda_libero",
    "control_rate": 10,
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      "robot0_eye_in_hand_image": {
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      "state": {
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        "type": "ee_abs",
        "dtype": "float32",
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        "names": [
          "robot0_eef_pos.x",
          "robot0_eef_pos.y",
          "robot0_eef_pos.z",
          "robot0_eef_axis_angle.rx",
          "robot0_eef_axis_angle.ry",
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      },
      "action": {
        "role": "action",
        "type": "ee_del",
        "dtype": "float32",
        "shape": [
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        ],
        "names": [
          "delta_eef_pos.dx",
          "delta_eef_pos.dy",
          "delta_eef_pos.dz",
          "delta_eef_axis_angle.drx",
          "delta_eef_axis_angle.dry",
          "delta_eef_axis_angle.drz",
          "gripper.open_close"
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        "stats": {
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    },
    "comment": "LIBERO benchmark on a single Franka Panda (robosuite/MuJoCo). A launch-time decision variable (use_delta) selects one action branch from action_modes and is spliced into features.action by config.build_contract: 'delta' = 7-DoF OSC_POSE end-effector delta + gripper (ee_del); 'absolute' = absolute target eef pose (position + axis-angle) + gripper (ee_abs). State is the absolute eef pose (position + axis-angle from robosuite (x,y,z,w) quat) + gripper finger qpos (ee_abs). Two 256x256 RGB views (agentview, wrist) at 10 Hz. Delta stats are the physical-intelligence/libero normalization values; absolute stats mirror the eef-pose state distribution."
  }
}