{
  "name": "robosuite v1.5 environment outputs: observation keys and reward modes",
  "description": "Compiled from the robosuite v1.5 environments documentation: the observation dictionary keys, image conventions and reward modes an environment returns, with array shape or meaning for each.",
  "page": "https://casrai.org/guides/robosuite",
  "publisher": "CASRAI",
  "license": "https://creativecommons.org/licenses/by/4.0/",
  "dateModified": "2026-11-13T02:06:49Z",
  "temporalCoverage": "2024/2025",
  "spatialCoverage": null,
  "columns": [
    {
      "name": "Item",
      "unit": "",
      "description": ""
    },
    {
      "name": "Category",
      "unit": "",
      "description": ""
    },
    {
      "name": "Shape or value",
      "unit": "",
      "description": ""
    },
    {
      "name": "Meaning",
      "unit": "",
      "description": ""
    }
  ],
  "rows": [
    {
      "Item": "robot{i}_proprio-state",
      "Category": "Observation key",
      "Shape or value": "NumPy array",
      "Meaning": "Proprioceptive state of robot i"
    },
    {
      "Item": "object-state",
      "Category": "Observation key",
      "Shape or value": "NumPy array",
      "Meaning": "Object-related state of the task"
    },
    {
      "Item": "{camera}_image",
      "Category": "Observation key",
      "Shape or value": "(H, W, 3)",
      "Meaning": "RGB image from the named camera"
    },
    {
      "Item": "{camera}_depth",
      "Category": "Observation key",
      "Shape or value": "(H, W)",
      "Meaning": "Depth image from the named camera"
    },
    {
      "Item": "image-state",
      "Category": "Observation key (optional)",
      "Shape or value": "NumPy array",
      "Meaning": "Optional image observation, built via the CONCATENATE_IMAGES macro"
    },
    {
      "Item": "IMAGE_CONVENTION = OpenGL",
      "Category": "Image macro (default)",
      "Shape or value": "flipped",
      "Meaning": "Images arrive vertically flipped"
    },
    {
      "Item": "IMAGE_CONVENTION = OpenCV",
      "Category": "Image macro (alternative)",
      "Shape or value": "unflipped",
      "Meaning": "Images use the OpenCV orientation"
    },
    {
      "Item": "reward_shaping = False (sparse)",
      "Category": "Reward mode",
      "Shape or value": "binary",
      "Meaning": "Success from the environment's _check_success"
    },
    {
      "Item": "reward_shaping = True (dense)",
      "Category": "Reward mode",
      "Shape or value": "shaped",
      "Meaning": "Shaped reward covering stages such as reaching, grasping and lifting"
    },
    {
      "Item": "done",
      "Category": "step return",
      "Shape or value": "boolean",
      "Meaning": "Episodes run horizon steps and do not end on success"
    }
  ],
  "sources": [
    {
      "title": "robosuite documentation: environments module",
      "url": "https://robosuite.ai/docs/modules/environments.html",
      "accessed": "2026-11-12"
    },
    {
      "title": "robosuite documentation: basic usage",
      "url": "https://robosuite.ai/docs/basicusage.html",
      "accessed": "2026-11-12"
    }
  ]
}