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Browse files- meta/crisp_meta.json +125 -0
- meta/info.json +264 -0
meta/crisp_meta.json
ADDED
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| 1 |
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{
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| 2 |
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"crisp_gym_version": "4.0.0",
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| 3 |
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"crisp_py_version": "3.0.0",
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| 4 |
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"control_type": "CARTESIAN",
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| 5 |
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"env_config": {
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| 6 |
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"robot_config": {
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| 7 |
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"joint_names": [
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"fr3_joint1",
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| 9 |
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"fr3_joint2",
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"fr3_joint3",
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| 11 |
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"fr3_joint4",
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| 12 |
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"fr3_joint5",
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"fr3_joint6",
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| 14 |
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"fr3_joint7"
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],
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| 16 |
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"home_config": [
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| 17 |
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-0.017396011,
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| 18 |
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0.0955319758,
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| 19 |
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0.000809703053,
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| 20 |
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-1.94272034,
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| 21 |
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-0.00401435784,
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| 22 |
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2.06584183,
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| 23 |
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0.797426445
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| 24 |
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],
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| 25 |
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"base_frame": "base",
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| 26 |
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"target_frame": "fr3_hand_tcp",
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| 27 |
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"default_controller": "cartesian_impedance_controller",
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| 28 |
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"cartesian_impedance_controller_name": "cartesian_impedance_controller",
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| 29 |
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"joint_trajectory_controller_name": "joint_impedance_controller",
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| 30 |
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"target_pose_topic": "target_pose",
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| 31 |
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"target_joint_topic": "target_joint",
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| 32 |
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"current_pose_topic": "current_pose",
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| 33 |
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"current_joint_topic": "joint_states",
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| 34 |
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"current_twist_topic": "current_twist",
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| 35 |
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"publish_frequency": 50.0,
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| 36 |
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"time_to_home": 2.0,
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| 37 |
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"max_pose_delay": 1.0,
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| 38 |
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"max_joint_delay": 1.0,
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| 39 |
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"use_tf_pose": false,
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| 40 |
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"tf_retrieve_rate": 50.0,
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| 41 |
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"use_prefix": false
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| 42 |
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},
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| 43 |
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"gripper_config": {
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| 44 |
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"min_value": 1046.0,
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| 45 |
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"max_value": 2065.0,
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| 46 |
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"command_topic": "/left/gripper/dynamixel_motor/command",
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| 47 |
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"joint_state_topic": "/left/gripper/dynamixel_motor/joint_states",
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| 48 |
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"reboot_service": "reboot_gripper",
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| 49 |
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"enable_torque_service": "/left/gripper/dynamixel_motor/set_torque",
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| 50 |
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"index": 0,
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| 51 |
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"publish_frequency": 30.0,
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| 52 |
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"max_joint_delay": 1.0,
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| 53 |
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"max_delta": 0.1
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| 54 |
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},
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| 55 |
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"camera_config": [
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| 56 |
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{
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| 57 |
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"camera_color_image_topic": "left_third_person_camera/image_raw",
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| 58 |
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"camera_color_info_topic": "left_third_person_camera/camera_info",
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| 59 |
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"camera_name": "primary",
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| 60 |
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"camera_frame": "primary_link",
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| 61 |
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"max_image_delay": 1.0,
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| 62 |
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"resolution": [
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| 63 |
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256,
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| 64 |
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256
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| 65 |
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],
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| 66 |
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"crop_width": null,
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| 67 |
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"crop_height": null
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| 68 |
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},
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| 69 |
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{
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| 70 |
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"camera_color_image_topic": "left_wrist_camera/color/image_rect_raw",
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| 71 |
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"camera_color_info_topic": "left_wrist_camera/color/camera_info",
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| 72 |
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"camera_name": "wrist",
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| 73 |
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"camera_frame": "wrist_link",
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| 74 |
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"max_image_delay": 1.0,
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| 75 |
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"resolution": [
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| 76 |
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256,
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| 77 |
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256
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| 78 |
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],
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| 79 |
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"crop_width": null,
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| 80 |
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"crop_height": null
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| 81 |
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},
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| 82 |
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{
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| 83 |
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"camera_color_image_topic": "anyskin/image_raw",
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| 84 |
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"camera_color_info_topic": "anyskin/camera_info",
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| 85 |
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"camera_name": "tactile",
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| 86 |
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"camera_frame": "tactile_link",
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| 87 |
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"max_image_delay": 1.0,
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| 88 |
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"resolution": [
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| 89 |
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256,
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| 90 |
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256
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| 91 |
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],
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| 92 |
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"crop_width": null,
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| 93 |
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"crop_height": null
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| 94 |
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}
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| 95 |
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],
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| 96 |
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"sensor_config": [
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| 97 |
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{
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| 98 |
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"shape": [
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| 99 |
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15
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| 100 |
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],
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| 101 |
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"sensor_type": "float32_array",
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| 102 |
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"name": "tactile_sensor",
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| 103 |
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"data_topic": "/left/anyskin/tactile_data",
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| 104 |
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"max_data_delay": 1.0,
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| 105 |
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"buffer_size": null,
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| 106 |
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"reset_service": "/left/anyskin/reset"
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| 107 |
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},
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| 108 |
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{
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| 109 |
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"shape": [
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| 110 |
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6
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| 111 |
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],
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| 112 |
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"sensor_type": "force_torque",
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| 113 |
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"name": "ft_sensor",
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| 114 |
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"data_topic": "/left/external_wrench",
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| 115 |
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"max_data_delay": 1.0,
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| 116 |
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"buffer_size": null,
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| 117 |
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"reset_service": null
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| 118 |
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}
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| 119 |
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],
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| 120 |
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"gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
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| 121 |
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"gripper_threshold": 0.1,
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| 122 |
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"cartesian_control_param_config": "None",
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| 123 |
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"joint_control_param_config": "None"
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| 124 |
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}
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| 125 |
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}
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meta/info.json
ADDED
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@@ -0,0 +1,264 @@
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| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "franka",
|
| 4 |
+
"total_episodes": 0,
|
| 5 |
+
"total_frames": 0,
|
| 6 |
+
"total_tasks": 0,
|
| 7 |
+
"total_videos": 0,
|
| 8 |
+
"total_chunks": 0,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 15,
|
| 11 |
+
"splits": {},
|
| 12 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 13 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 14 |
+
"features": {
|
| 15 |
+
"observation.images.primary": {
|
| 16 |
+
"dtype": "video",
|
| 17 |
+
"shape": [
|
| 18 |
+
256,
|
| 19 |
+
256,
|
| 20 |
+
3
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"height",
|
| 24 |
+
"width",
|
| 25 |
+
"channels"
|
| 26 |
+
],
|
| 27 |
+
"video_info": {
|
| 28 |
+
"video.fps": 30.0,
|
| 29 |
+
"video.codec": "av1",
|
| 30 |
+
"video.pix_fmt": "yuv420p",
|
| 31 |
+
"video.is_depth_map": false,
|
| 32 |
+
"has_audio": false
|
| 33 |
+
}
|
| 34 |
+
},
|
| 35 |
+
"observation.images.tactile": {
|
| 36 |
+
"dtype": "video",
|
| 37 |
+
"shape": [
|
| 38 |
+
256,
|
| 39 |
+
256,
|
| 40 |
+
3
|
| 41 |
+
],
|
| 42 |
+
"names": [
|
| 43 |
+
"height",
|
| 44 |
+
"width",
|
| 45 |
+
"channels"
|
| 46 |
+
],
|
| 47 |
+
"video_info": {
|
| 48 |
+
"video.fps": 30.0,
|
| 49 |
+
"video.codec": "av1",
|
| 50 |
+
"video.pix_fmt": "yuv420p",
|
| 51 |
+
"video.is_depth_map": false,
|
| 52 |
+
"has_audio": false
|
| 53 |
+
}
|
| 54 |
+
},
|
| 55 |
+
"observation.images.wrist": {
|
| 56 |
+
"dtype": "video",
|
| 57 |
+
"shape": [
|
| 58 |
+
256,
|
| 59 |
+
256,
|
| 60 |
+
3
|
| 61 |
+
],
|
| 62 |
+
"names": [
|
| 63 |
+
"height",
|
| 64 |
+
"width",
|
| 65 |
+
"channels"
|
| 66 |
+
],
|
| 67 |
+
"video_info": {
|
| 68 |
+
"video.fps": 30.0,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"has_audio": false
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"observation.state.cartesian": {
|
| 76 |
+
"dtype": "float32",
|
| 77 |
+
"shape": [
|
| 78 |
+
6
|
| 79 |
+
],
|
| 80 |
+
"names": [
|
| 81 |
+
"x",
|
| 82 |
+
"y",
|
| 83 |
+
"z",
|
| 84 |
+
"roll",
|
| 85 |
+
"pitch",
|
| 86 |
+
"yaw"
|
| 87 |
+
]
|
| 88 |
+
},
|
| 89 |
+
"observation.state.gripper": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": [
|
| 95 |
+
"gripper"
|
| 96 |
+
]
|
| 97 |
+
},
|
| 98 |
+
"observation.state.joints": {
|
| 99 |
+
"dtype": "float32",
|
| 100 |
+
"shape": [
|
| 101 |
+
7
|
| 102 |
+
],
|
| 103 |
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