StefanWagnerWandelbots's picture
Add Nova robot metadata (model, DH params, joint limits, TCPs)
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{
"codebase_version": "v3.0",
"robot_type": "nova",
"total_episodes": 312,
"total_frames": 180990,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:312"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"gripper.pos"
],
"shape": [
7
]
},
"observation.state": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"gripper.pos"
],
"shape": [
7
]
},
"observation.images.flange": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"nova": {
"robot_model": "UniversalRobots_UR10e",
"controller_name": "ur10e",
"motion_group": "0@ur10e",
"tcp": "flange",
"dh_parameters": [
{
"alpha": 1.5707963267948966,
"d": 180.7
},
{
"a": -612.7
},
{
"a": -571.55
},
{
"alpha": 1.5707963267948966,
"d": 174.15
},
{
"alpha": -1.5707963267948966,
"d": 119.85
},
{
"d": 116.55
}
],
"mounting": {
"position": [
0,
0,
0
],
"orientation": [
0,
0,
0
]
},
"tcps": {
"Flange": {
"name": "Default-Flange",
"pose": {
"position": [
0,
0,
0
],
"orientation": [
0,
0,
0
]
}
}
},
"operation_limits": {
"auto_limits": {
"joints": [
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 1.7,
"acceleration": 40,
"torque": 330
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 2.29,
"acceleration": 40,
"torque": 330
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 150
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
}
],
"tcp": {
"velocity": 5000
},
"elbow": {
"velocity": 5000
},
"flange": {
"velocity": 5000
}
},
"manual_limits": {
"joints": [
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 1.7,
"acceleration": 40,
"torque": 330
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 2.29,
"acceleration": 40,
"torque": 330
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 150
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
}
],
"tcp": {
"velocity": 5000
}
},
"manual_t1_limits": {
"joints": [
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 1.7,
"acceleration": 40,
"torque": 330
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 2.29,
"acceleration": 40,
"torque": 330
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 150
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
}
],
"tcp": {
"velocity": 5000
}
},
"manual_t2_limits": {
"joints": [
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 1.7,
"acceleration": 40,
"torque": 330
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 2.29,
"acceleration": 40,
"torque": 330
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 150
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
},
{
"position": {
"lower_limit": -6.283185307179586,
"upper_limit": 6.283185307179586
},
"velocity": 3.14,
"acceleration": 40,
"torque": 54
}
],
"tcp": {
"velocity": 5000
}
}
},
"payloads": {
"FPay-0": {
"name": "FPay-0",
"payload": 0,
"center_of_mass": [
0,
0,
0
],
"moment_of_inertia": [
0,
0,
0
]
}
},
"cycle_time": 8
}
}