{
  "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"
  }
}