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meta/episode_mapping.json

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meta/info.json

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+                "joint_pos_left_3",
+                "joint_pos_left_4",
+                "joint_pos_left_5",
+                "joint_pos_left_6",
+                "joint_pos_right_0",
+                "joint_pos_right_1",
+                "joint_pos_right_2",
+                "joint_pos_right_3",
+                "joint_pos_right_4",
+                "joint_pos_right_5",
+                "joint_pos_right_6",
+                "tcp_left_pos_x",
+                "tcp_left_pos_y",
+                "tcp_left_pos_z",
+                "tcp_left_quat_x",
+                "tcp_left_quat_y",
+                "tcp_left_quat_z",
+                "tcp_left_quat_w",
+                "tcp_right_pos_x",
+                "tcp_right_pos_y",
+                "tcp_right_pos_z",
+                "tcp_right_quat_x",
+                "tcp_right_quat_y",
+                "tcp_right_quat_z",
+                "tcp_right_quat_w",
+                "gripper_left_0",
+                "gripper_left_1",
+                "gripper_right_0",
+                "gripper_right_1",
+                "last_command_left_0",
+                "last_command_left_1",
+                "last_command_left_2",
+                "last_command_left_3",
+                "last_command_left_4",
+                "last_command_left_5",
+                "last_command_left_6",
+                "last_command_right_0",
+                "last_command_right_1",
+                "last_command_right_2",
+                "last_command_right_3",
+                "last_command_right_4",
+                "last_command_right_5",
+                "last_command_right_6"
+            ]
+        },
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+            "shape": [
+                16
+            ],
+            "names": [
+                "tcp_left_x",
+                "tcp_left_y",
+                "tcp_left_z",
+                "tcp_left_quat_x",
+                "tcp_left_quat_y",
+                "tcp_left_quat_z",
+                "tcp_left_quat_w",
+                "tcp_right_x",
+                "tcp_right_y",
+                "tcp_right_z",
+                "tcp_right_quat_x",
+                "tcp_right_quat_y",
+                "tcp_right_quat_z",
+                "tcp_right_quat_w",
+                "gripper_left",
+                "gripper_right"
+            ]
+        },
+        "observation.images.rgb_static": {
+            "dtype": "video",
+            "shape": [
+                512,
+                512,
+                3
+            ],
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+                "height",
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+                "channel"
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+                "video.width": 512,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.rgb_left": {
+            "dtype": "video",
+            "shape": [
+                512,
+                512,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
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+        },
+        "observation.images.rgb_right": {
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+            "shape": [
+                512,
+                512,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
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+        },
+        "observation.images.depth_left": {
+            "dtype": "video",
+            "shape": [
+                512,
+                512,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
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+                "has_audio": false
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+        },
+        "observation.images.depth_right": {
+            "dtype": "video",
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+                512,
+                512,
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+            "names": [
+                "height",
+                "width",
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+                "video.width": 512,
+                "video.codec": "av1",
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+                "video.is_depth_map": false,
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+                "has_audio": false
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+        },
+        "timestamp": {
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+            "shape": [
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+        "episode_index": {
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+}

meta/pipeline_config.json

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+{
+  "include_joint_positions": true,
+  "include_joint_velocities": false,
+  "include_joint_efforts": false,
+  "include_tcp_poses": true,
+  "include_last_command": true,
+  "include_rgb_images": true,
+  "include_depth_images": true,
+  "image_resolution": [
+    512,
+    512
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+  "depth_scale_factor": 1000.0,
+  "action_level": "tcp",
+  "left_gripper": "panda",
+  "right_gripper": "panda",
+  "task_name": "debug_data",
+  "max_pause_seconds": 600,
+  "pause_velocity": -1,
+  "save_pauses": false,
+  "gripper_active_speed": 0.05,
+  "boost_factor": 1,
+  "grace_period_seconds": 0.2,
+  "save_normal": false,
+  "recording_fps": 30,
+  "target_fps": 10,
+  "subsample_offset": 0,
+  "min_episode_seconds": 1
+}

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