File size: 1,250 Bytes
674eec0 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 | {
"format_version": 8,
"prompt": "Open or close hinged object (ex: hinged door, microwave, oven, book, dryer, toilet, box)",
"mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
"cameras": [
"ext1",
"ext2",
"wrist"
],
"end_effectors": [
{
"object_type": "site",
"object_name": "pinch",
"radius_mode": "pad_pair",
"pad_bodies": [
"right_silicone_pad",
"left_silicone_pad"
],
"sh_correction": [
[
0.0,
0.0,
-1.0
],
[
-1.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0
]
]
}
],
"skeleton": {
"mode": "full_tree",
"skip_bodies": [
"gripper_center"
]
},
"height": 720,
"width": 1280,
"fps": 10.0,
"ref_cam_images": {
"ext1": "ref_images/ext1.png",
"ext2": "ref_images/ext2.png",
"wrist": "ref_images/wrist.png"
},
"gt_videos": {
"ext1": "gt/ext1.mp4",
"ext2": "gt/ext2.mp4",
"wrist": "gt/wrist.mp4"
},
"migrated_from": {
"repo_id": "droid",
"source_repo_id": "droid",
"episode_index": 13978,
"start_frame": 0,
"source_fps": 15.0,
"robot_type": "Panda Franka"
}
}
|