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meta/info.json

@@ -1,6 +1,6 @@
 {
     "codebase_version": "v3.0",
-    "robot_type": "so_follower",
+    "robot_type": "bi_so_follower",
     "total_episodes": 0,
     "total_frames": 0,
     "total_tasks": 0,
@@ -15,32 +15,44 @@
         "action": {
             "dtype": "float32",
             "names": [
-                "shoulder_pan.pos",
-                "shoulder_lift.pos",
-                "elbow_flex.pos",
-                "wrist_flex.pos",
-                "wrist_roll.pos",
-                "gripper.pos"
+                "left_shoulder_pan.pos",
+                "left_shoulder_lift.pos",
+                "left_elbow_flex.pos",
+                "left_wrist_flex.pos",
+                "left_wrist_roll.pos",
+                "left_gripper.pos",
+                "right_shoulder_pan.pos",
+                "right_shoulder_lift.pos",
+                "right_elbow_flex.pos",
+                "right_wrist_flex.pos",
+                "right_wrist_roll.pos",
+                "right_gripper.pos"
             ],
             "shape": [
-                6
+                12
             ]
         },
         "observation.state": {
             "dtype": "float32",
             "names": [
-                "shoulder_pan.pos",
-                "shoulder_lift.pos",
-                "elbow_flex.pos",
-                "wrist_flex.pos",
-                "wrist_roll.pos",
-                "gripper.pos"
+                "left_shoulder_pan.pos",
+                "left_shoulder_lift.pos",
+                "left_elbow_flex.pos",
+                "left_wrist_flex.pos",
+                "left_wrist_roll.pos",
+                "left_gripper.pos",
+                "right_shoulder_pan.pos",
+                "right_shoulder_lift.pos",
+                "right_elbow_flex.pos",
+                "right_wrist_flex.pos",
+                "right_wrist_roll.pos",
+                "right_gripper.pos"
             ],
             "shape": [
-                6
+                12
             ]
         },
-        "observation.images.front": {
+        "observation.images.left_front": {
             "dtype": "video",
             "shape": [
                 480,
@@ -53,7 +65,20 @@
                 "channels"
             ]
         },
-        "observation.images.side": {
+        "observation.images.left_side": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ]
+        },
+        "observation.images.right_wrist": {
             "dtype": "video",
             "shape": [
                 480,