File size: 11,271 Bytes
161a4fa
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos",
                "shoulder_pan.torq",
                "shoulder_lift.torq",
                "elbow_flex.torq",
                "wrist_flex.torq",
                "wrist_yaw.torq",
                "wrist_roll.torq",
                "gripper.torq",
                "shoulder_pan.vel",
                "shoulder_lift.vel",
                "elbow_flex.vel",
                "wrist_flex.vel",
                "wrist_yaw.vel",
                "wrist_roll.vel",
                "gripper.vel"
            ],
            "shape": [
                21
            ]
        },
        "observation.images.zed_left": {
            "dtype": "video",
            "shape": [
                376,
                672,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 376,
                "video.width": 672,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.zed_right": {
            "dtype": "video",
            "shape": [
                376,
                672,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 376,
                "video.width": 672,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.wrist_cam": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "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
        }
    },
    "total_episodes": 100,
    "total_frames": 23726,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "rebot_b601_follower",
    "splits": {
        "train": "0:100"
    },
    "robot_config": {
        "robot": {
            "type": "rebot_b601_follower",
            "id": "b601_follower",
            "port": "/dev/ttyACM0",
            "can_adapter": "damiao",
            "dm_serial_baud": 921600,
            "disable_torque_on_disconnect": true,
            "return_home_on_disconnect": true,
            "home_duration_s": 1.25,
            "home_joint_durations_s": "{'elbow_flex': 2.0}",
            "gripper_close_duration_s": 1.0,
            "wrist_lower_duration_s": 0.67,
            "home_wrist_flex_deg": -45.0,
            "max_relative_target": null,
            "cameras": {
                "zed_left": {
                    "fps": 30,
                    "width": 672,
                    "height": 376,
                    "side": "left",
                    "serial_number": "13925480"
                },
                "zed_right": {
                    "fps": 30,
                    "width": 672,
                    "height": 376,
                    "side": "right",
                    "serial_number": "13925480"
                },
                "wrist_cam": {
                    "fps": 30,
                    "width": 640,
                    "height": 360,
                    "index_or_path": "/dev/video0",
                    "color_mode": "rgb",
                    "rotation": 0,
                    "warmup_s": 3,
                    "fourcc": "MJPG",
                    "backend": 200
                }
            },
            "motor_can_ids": {
                "shoulder_pan": [
                    1,
                    17
                ],
                "shoulder_lift": [
                    2,
                    18
                ],
                "elbow_flex": [
                    3,
                    19
                ],
                "wrist_flex": [
                    4,
                    20
                ],
                "wrist_yaw": [
                    5,
                    21
                ],
                "wrist_roll": [
                    6,
                    22
                ],
                "gripper": [
                    7,
                    23
                ]
            },
            "pos_vel_velocity": [
                150.0,
                150.0,
                150.0,
                150.0,
                150.0,
                150.0,
                900.0
            ],
            "control_mode": "mit",
            "mit_kp": [
                45.0,
                45.0,
                45.0,
                8.0,
                9.0,
                8.0,
                8.0
            ],
            "mit_kd": [
                12.0,
                12.0,
                12.0,
                1.0,
                1.0,
                1.0,
                1.0
            ],
            "gravity_compensation": true,
            "gravity_gain": 1.0,
            "gravity_scale": {},
            "gravity_payload_kg": 0.0,
            "gravity_payload_com": [
                0.0,
                0.0,
                0.0
            ],
            "gravity_max_torque": 20.0,
            "temp_warn_c": 57.0,
            "temp_danger_c": 61.0,
            "temp_max_c": 65.0,
            "temp_warn_repeat_s": 3.0,
            "temp_danger_repeat_s": 1.0,
            "temp_history_s": 60.0,
            "temp_sample_hz": 10.0,
            "temp_shutdown_enabled": true,
            "temp_debug": false,
            "gripper_control_mode": "force_pos",
            "gripper_torque_ratio": 0.07,
            "gripper_mit_kp": 8.0,
            "gripper_mit_kd": 0.3,
            "send_rate_hz": 100.0,
            "can_error_grace_s": 2.0,
            "profile_log_path": null,
            "enable_trajectory_smoothing": true,
            "smoothing_time_constant_s": 0.02,
            "joint_limits": {
                "shoulder_pan": [
                    -150.0,
                    150.0
                ],
                "shoulder_lift": [
                    -200.0,
                    1.0
                ],
                "elbow_flex": [
                    -200.0,
                    1.0
                ],
                "wrist_flex": [
                    -80.0,
                    90.0
                ],
                "wrist_yaw": [
                    -90.0,
                    90.0
                ],
                "wrist_roll": [
                    -90.0,
                    90.0
                ],
                "gripper": [
                    -270.0,
                    0.0
                ]
            },
            "calibration_dir": null
        },
        "teleop": {
            "type": "rebot_102_leader",
            "id": "b601_leader",
            "port": "/dev/ttyUSB0",
            "baudrate": 1000000,
            "joint_ids": {
                "shoulder_pan": 0,
                "shoulder_lift": 1,
                "elbow_flex": 2,
                "wrist_flex": 3,
                "wrist_yaw": 4,
                "wrist_roll": 5,
                "gripper": 6
            },
            "joint_directions": {
                "shoulder_pan": -1,
                "shoulder_lift": -1,
                "elbow_flex": 1,
                "wrist_flex": 1,
                "wrist_yaw": 1,
                "wrist_roll": -1,
                "gripper": -6
            },
            "joint_ranges": {
                "shoulder_pan": [
                    -150,
                    150
                ],
                "shoulder_lift": [
                    -200,
                    1
                ],
                "elbow_flex": [
                    -200,
                    1
                ],
                "wrist_flex": [
                    -80,
                    90
                ],
                "wrist_yaw": [
                    -90,
                    90
                ],
                "wrist_roll": [
                    -90,
                    90
                ],
                "gripper": [
                    -270,
                    0
                ]
            },
            "calibration_dir": null
        }
    }
}