| { | |
| "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" | |
| } | |
| } | |