📦 Data Format v1 (Deprecated)

This document describes the legacy v1 trajectory format previously used in RoboVerse and related frameworks. This format is now deprecated in favor of the more extensible Data Format v2.

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🔖 Typical Filename

trajectory-unified.pkl

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📄 Data Structure

{
    'source': 'ManiSkill2-rigid_body-PickSingleYCB-v0',
    'max_episode_len': 147,
    'demos': {
        "franka": [
            {
                'name': 'banana_traj_0',
                'description': 'Banana nana bana ba banana.',  # optional
                'env_setup': {
                    "init_q": [...],          # [q_len], e.g., 9 for Franka
                    "init_robot_pos": [...],  # [3]
                    "init_robot_quat": [...], # [4]
                    "init_{obj_name}_pos": [...],    # [3]
                    "init_{obj_name}_quat": [...],   # [4]
                    "init_{joint_name}_q": [...],    # [1], for articulations
                    ...
                },
                'robot_traj': {
                    "q": [[...], ...],        # [demo_len x q_len]
                    "ee_act": [[...], ...],   # [demo_len x 1]  (0 = close, 1 = open)
                }
            },
            ...
        ],
    }
}

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📌 Field Descriptions

Key	Description
source	Environment string identifier
max_episode_len	Used to pad all trajectories for batching
demos	Dictionary mapping robot names to a list of demo dicts
env_setup	Initial states of robot and objects in the environment
q	Joint positions for each timestep
ee_act	End-effector action per timestep (open/close gripper)

In each env_setup:

• init_q: Initial robot joint configuration

• init_robot_pos: Base robot position

• init_robot_quat: Base robot orientation (quaternion)

• init_*: Initial position/quaternion/state of relevant scene objects

These values are consumed inside the task’s _reset_idx function.

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⚠️ Status

This format is no longer supported in the latest RoboVerse infrastructure. If you have data in this format, use the provided script to convert it to v2:

python scripts/convert_traj_v1_to_v2.py --task CloseBox --robot franka

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