| { | |
| "format_version": 1, | |
| "episode_index": 13, | |
| "task_instruction": "Pick up the bread and place it on the plate", | |
| "created_at": "2026-09-17T05:30:10+0800", | |
| "duration_s": 15.6, | |
| "num_frames": 469, | |
| "control_hz": 100.0, | |
| "record_hz": 30.0, | |
| "stiffness_ratio": 1, | |
| "gripper_force_n": 80, | |
| "gripper_speed": 0.2, | |
| "teleop": { | |
| "left_sm_index": 0, | |
| "right_sm_index": 1, | |
| "left_pos_scale": 0.001, | |
| "right_pos_scale": 0.001, | |
| "left_rot_scale": 0.005, | |
| "right_rot_scale": 0.005, | |
| "translation_frame": "base", | |
| "operator_translation_signs": [ | |
| 1.0, | |
| 1.0, | |
| 1.0 | |
| ], | |
| "motion_threshold": 0.1, | |
| "rotation_motion_threshold": 0.05, | |
| "response_exponent": 2.0, | |
| "workspace_limit_disabled": true | |
| }, | |
| "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock", | |
| "left_robot_sn": "Rizon4-063609", | |
| "right_robot_sn": "Rizon4-063610", | |
| "left_start_position_deg": [ | |
| 43.32, | |
| -103.05, | |
| -52.6, | |
| 78.06, | |
| -20.03, | |
| 31.71, | |
| 45.47 | |
| ], | |
| "right_start_position_deg": [ | |
| -17.55, | |
| -108.92, | |
| 52.41, | |
| 44.52, | |
| 33.43, | |
| 19.96, | |
| -46.22 | |
| ], | |
| "cameras": { | |
| "left": "260322279602", | |
| "right": "260322271470", | |
| "overview": "254522075549" | |
| }, | |
| "camera_stream": { | |
| "width": 640, | |
| "height": 480, | |
| "fps": 30, | |
| "format": "color bgr8 encoded as JPEG" | |
| } | |
| } |