{
  "skill_name": "grasp",
  "operator": "chihun",
  "num_episodes": 3,
  "fps": 30.0,
  "action_source": "physical_ai_command_trajectory",
  "target_joint_names": [
    "arm_l_joint1",
    "arm_l_joint2",
    "arm_l_joint3",
    "arm_l_joint4",
    "arm_l_joint5",
    "arm_l_joint6",
    "arm_l_joint7",
    "gripper_l_joint1",
    "arm_r_joint1",
    "arm_r_joint2",
    "arm_r_joint3",
    "arm_r_joint4",
    "arm_r_joint5",
    "arm_r_joint6",
    "arm_r_joint7",
    "gripper_r_joint1",
    "head_joint1",
    "head_joint2",
    "lift_joint"
  ],
  "action_names": [
    "arm_l_joint1",
    "arm_l_joint2",
    "arm_l_joint3",
    "arm_l_joint4",
    "arm_l_joint5",
    "arm_l_joint6",
    "arm_l_joint7",
    "gripper_l_joint1",
    "arm_r_joint1",
    "arm_r_joint2",
    "arm_r_joint3",
    "arm_r_joint4",
    "arm_r_joint5",
    "arm_r_joint6",
    "arm_r_joint7",
    "gripper_r_joint1",
    "head_joint1",
    "head_joint2",
    "lift_joint"
  ],
  "observation_state_names": [
    "arm_l_joint1",
    "arm_l_joint2",
    "arm_l_joint3",
    "arm_l_joint4",
    "arm_l_joint5",
    "arm_l_joint6",
    "arm_l_joint7",
    "gripper_l_joint1",
    "arm_r_joint1",
    "arm_r_joint2",
    "arm_r_joint3",
    "arm_r_joint4",
    "arm_r_joint5",
    "arm_r_joint6",
    "arm_r_joint7",
    "gripper_r_joint1",
    "head_joint1",
    "head_joint2",
    "lift_joint"
  ],
  "source_topic_map": {
    "cam_head": "/zed/zed_node/left/image_rect_color/compressed",
    "cam_hand_L": "/camera_left/camera_left/color/image_rect_raw/compressed",
    "cam_hand_R": "/camera_right/camera_right/color/image_rect_raw/compressed",
    "cam_wide": "/camera_wide/camera_wide/color/image_rect_raw/compressed",
    "observation_source.follower": "/joint_states",
    "action_source.leader.joint_trajectory_command_broadcaster_left.joint_trajectory": "/leader/joint_trajectory_command_broadcaster_left/joint_trajectory",
    "action_source.leader.joint_trajectory_command_broadcaster_right.joint_trajectory": "/leader/joint_trajectory_command_broadcaster_right/joint_trajectory",
    "action_source.leader.joystick_controller_left.joint_trajectory": "/leader/joystick_controller_left/joint_trajectory",
    "action_source.leader.joystick_controller_right.joint_trajectory": "/leader/joystick_controller_right/joint_trajectory"
  },
  "action_joint_source_map": {
    "arm_l_joint1": "/leader/joint_trajectory_command_broadcaster_left/joint_trajectory",
    "arm_l_joint2": "/leader/joint_trajectory_command_broadcaster_left/joint_trajectory",
    "arm_l_joint3": "/leader/joint_trajectory_command_broadcaster_left/joint_trajectory",
    "arm_l_joint4": "/leader/joint_trajectory_command_broadcaster_left/joint_trajectory",
    "arm_l_joint5": "/leader/joint_trajectory_command_broadcaster_left/joint_trajectory",
    "arm_l_joint6": "/leader/joint_trajectory_command_broadcaster_left/joint_trajectory",
    "arm_l_joint7": "/leader/joint_trajectory_command_broadcaster_left/joint_trajectory",
    "gripper_l_joint1": "/leader/joint_trajectory_command_broadcaster_left/joint_trajectory",
    "arm_r_joint1": "/leader/joint_trajectory_command_broadcaster_right/joint_trajectory",
    "arm_r_joint2": "/leader/joint_trajectory_command_broadcaster_right/joint_trajectory",
    "arm_r_joint3": "/leader/joint_trajectory_command_broadcaster_right/joint_trajectory",
    "arm_r_joint4": "/leader/joint_trajectory_command_broadcaster_right/joint_trajectory",
    "arm_r_joint5": "/leader/joint_trajectory_command_broadcaster_right/joint_trajectory",
    "arm_r_joint6": "/leader/joint_trajectory_command_broadcaster_right/joint_trajectory",
    "arm_r_joint7": "/leader/joint_trajectory_command_broadcaster_right/joint_trajectory",
    "gripper_r_joint1": "/leader/joint_trajectory_command_broadcaster_right/joint_trajectory",
    "head_joint1": "/leader/joystick_controller_left/joint_trajectory",
    "head_joint2": "/leader/joystick_controller_left/joint_trajectory",
    "lift_joint": "/leader/joystick_controller_right/joint_trajectory"
  },
  "camera_feature_map": {
    "cam_head": "observation.images.cam_head",
    "cam_hand_L": "observation.images.cam_wrist_left",
    "cam_hand_R": "observation.images.cam_wrist_right",
    "cam_wide": "observation.images.cam_wide"
  },
  "created_at": "2026-05-08T16:59:13.592578",
  "topic_config": "/home/rllab/rllab_humanoid/rllab-data-collection/config/bg2_topics.yaml"
}