| { |
| "codebase_version": "v2.0", |
| "robot_type": "panda", |
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| "total_frames": 25763, |
| "total_tasks": 1, |
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| "1_delta_joint_1", |
| "1_delta_joint_2", |
| "1_delta_joint_3", |
| "1_delta_joint_4", |
| "1_delta_joint_5", |
| "1_delta_joint_6", |
| "1_gripper", |
| "2_delta_joint_0", |
| "2_delta_joint_1", |
| "2_delta_joint_2", |
| "2_delta_joint_3", |
| "2_delta_joint_4", |
| "2_delta_joint_5", |
| "2_delta_joint_6", |
| "2_gripper" |
| ] |
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| "1_robot_panda_joint1_pos", |
| "1_robot_panda_joint2_pos", |
| "1_robot_panda_joint3_pos", |
| "1_robot_panda_joint4_pos", |
| "1_robot_panda_joint5_pos", |
| "1_robot_panda_joint6_pos", |
| "1_robot_panda_joint7_pos", |
| "1_robot_gripper_finger_1_p", |
| "1_robot_gripper_finger_2_p", |
| "1_robot_panda_joint1_vel", |
| "1_robot_panda_joint2_vel", |
| "1_robot_panda_joint3_vel", |
| "1_robot_panda_joint4_vel", |
| "1_robot_panda_joint5_vel", |
| "1_robot_panda_joint6_vel", |
| "1_robot_panda_joint7_vel", |
| "1_robot_gripper_finger_1_v", |
| "1_robot_gripper_finger_2_v", |
| "2_robot_panda_joint1_pos", |
| "2_robot_panda_joint2_pos", |
| "2_robot_panda_joint3_pos", |
| "2_robot_panda_joint4_pos", |
| "2_robot_panda_joint5_pos", |
| "2_robot_panda_joint6_pos", |
| "2_robot_panda_joint7_pos", |
| "2_robot_gripper_finger_1_p", |
| "2_robot_gripper_finger_2_p", |
| "2_robot_panda_joint1_vel", |
| "2_robot_panda_joint2_vel", |
| "2_robot_panda_joint3_vel", |
| "2_robot_panda_joint4_vel", |
| "2_robot_panda_joint5_vel", |
| "2_robot_panda_joint6_vel", |
| "2_robot_panda_joint7_vel", |
| "2_robot_gripper_finger_1_v", |
| "2_robot_gripper_finger_2_v", |
| "left_arm_tcp_pos_x", |
| "left_arm_tcp_pos_y", |
| "left_arm_tcp_pos_z", |
| "left_arm_tcp_quat_x", |
| "left_arm_tcp_quat_y", |
| "left_arm_tcp_quat_z", |
| "left_arm_tcp_quat_w", |
| "right_arm_tcp_pos_x", |
| "right_arm_tcp_pos_y", |
| "right_arm_tcp_pos_z", |
| "right_arm_tcp_quat_x", |
| "right_arm_tcp_quat_y", |
| "right_arm_tcp_quat_z", |
| "right_arm_tcp_quat_w", |
| "goal_region_pos_x", |
| "goal_region_pos_y", |
| "goal_region_pos_z", |
| "cubeA_pos_x", |
| "cubeA_pos_y", |
| "cubeA_pos_z", |
| "cubeA_quat_x", |
| "cubeA_quat_y", |
| "cubeA_quat_z", |
| "cubeA_quat_w", |
| "cubeB_pos_x", |
| "cubeB_pos_y", |
| "cubeB_pos_z", |
| "cubeB_quat_x", |
| "cubeB_quat_y", |
| "cubeB_quat_z", |
| "cubeB_quat_w", |
| "left_arm_tcp_to_cubeA_pos_x", |
| "left_arm_tcp_to_cubeA_pos_y", |
| "left_arm_tcp_to_cubeA_pos_z", |
| "right_arm_tcp_to_cubeb_pos_x", |
| "right_arm_tcp_to_cubeb_pos_y", |
| "right_arm_tcp_to_cubeb_pos_z", |
| "cubeA_to_cubeB_pos_x", |
| "cubeA_to_cubeB_pos_y", |
| "cubeA_to_cubeB_pos_z" |
| ] |
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| "observation.image": { |
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| ], |
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| "video_info": { |
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| "has_audio": false |
| } |
| } |
| }, |
| "encoding": { |
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| }, |
| "video_kwargs": { |
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| "g": 2, |
| "crf": 18 |
| } |
| } |
| } |
