{
  "robot_type": "tomm",
  "topics": [
    "/tf",
    "/tomm/skin_visulization/distance_cloud_merged",
    "/left_dami_force_wrench",
    "/left_dami_prox_wrench",
    "/right_dami_force_wrench",
    "/right_dami_prox_wrench",
    "/tomm/dami/p1e/data",
    "/tomm/dami/p2e/data",
    "/tomm/dami/p3e/data",
    "/tomm/dami/p4e/data",
    "/tomm/dami/p5e/data",
    "/tomm/dami/p6e/data",
    "/tomm/teleop/hand_link_left_force",
    "/tomm/teleop/hand_link_left_prox",
    "/tomm/teleop/hand_link_left_pose",
    "/sgx"
  ],
  "fps": 100,
  "video_path": null,
  "task_type": "classification",
  "classification_labels": {
    "negative": 0,
    "bag_medium": 1,
    "bag_heavy": 2,
    "bluecube_medium": 3,
    "bowl_light": 4,
    "bowl_medium": 5,
    "bowl_heavy": 6,
    "can_light": 7,
    "chip_light": 8,
    "cleanser_light": 9,
    "cleanser_medium": 10,
    "cleanser_heavy": 11,
    "cube_light": 12,
    "cube_medium": 13,
    "cube_heavy": 14,
    "cubemarsbox_light": 15,
    "cubemarsbox_medium": 16,
    "cubemarsbox_heavy": 17,
    "foam_light": 18,
    "maxwell_light": 19,
    "maxwell_medium": 20,
    "maxwell_heavy": 21,
    "measuringcup_light": 22,
    "measuringcup_medium": 23,
    "measuringcup_heavy": 24,
    "muesli_light": 25,
    "muesli_medium": 26,
    "muesli_heavy": 27,
    "mustard_light": 28,
    "mustard_medium": 29,
    "mustard_heavy": 30,
    "noodle_medium": 31,
    "papercup_light": 32,
    "papercup_medium": 33,
    "papercup_heavy": 34,
    "pitcher_medium": 35,
    "ppbox_medium": 36,
    "pringles_medium": 37,
    "redcup_light": 38,
    "ricecake_light": 39,
    "softlego_light": 40,
    "spam_light": 41,
    "spam_medium": 42,
    "spam_heavy": 43,
    "sugar_light": 44,
    "tape_medium": 45,
    "teabox_light": 46,
    "toast_medium": 47,
    "toiletroll_light": 48,
    "tomatosoup_light": 49,
    "tumbox_light": 50,
    "tumbox_medium": 51,
    "tumbox_heavy": 52,
    "udon_light": 53,
    "weinglass_light": 54,
    "weinglass_medium": 55,
    "weinglass_heavy": 56,
    "wood_heavy": 57,
    "youcook_light": 58,
    "youcook_medium": 59,
    "youcook_heavy": 60
  },
  "features": {
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "timestamp": {
      "dtype": "float64",
      "shape": [
        1
      ]
    },
    "obs_point_cloud_skin_contact": {
      "dtype": "float64",
      "shape": [
        44,
        6
      ],
      "names": [
        "x",
        "y",
        "z",
        "r",
        "g",
        "b"
      ],
      "description": "Point cloud data with RGB color values (44 points max)"
    },
    "mask_point_cloud_skin_contact": {
      "dtype": "bool",
      "shape": [
        44
      ],
      "description": "Mask indicating valid points in point cloud"
    },
    "classification_label": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "description": "Classification label for the push action"
    },
    "obs_pose_left": {
      "dtype": "float64",
      "shape": [
        7
      ],
      "names": [
        "x",
        "y",
        "z",
        "qx",
        "qy",
        "qz",
        "qw"
      ],
      "description": "Left hand pose (position + quaternion)"
    },
    "obs_skin_prox_left": {
      "dtype": "float64",
      "shape": [
        44
      ],
      "description": "Skin proximity sensor data from left hand (6 patches: p1:13, p2:8, p3:8, p4:7, p5:5, p6:3)"
    },
    "obs_skin_force_left": {
      "dtype": "float64",
      "shape": [
        44
      ],
      "description": "Skin force sensor data from left hand (6 patches: p1:13, p2:8, p3:8, p4:7, p5:5, p6:3)"
    },
    "obs_skin_dist_left": {
      "dtype": "float64",
      "shape": [
        44
      ],
      "description": "Skin distance sensor data from left hand (6 patches: p1:13, p2:8, p3:8, p4:7, p5:5, p6:3)"
    },
    "obs_dami_force_left": {
      "dtype": "float64",
      "shape": [
        6
      ],
      "names": [
        "force_x",
        "force_y",
        "force_z",
        "torque_x",
        "torque_y",
        "torque_z"
      ],
      "description": "Force/torque data from left hand"
    },
    "obs_dami_prox_left": {
      "dtype": "float64",
      "shape": [
        6
      ],
      "names": [
        "force_x",
        "force_y",
        "force_z",
        "torque_x",
        "torque_y",
        "torque_z"
      ],
      "description": "Proximity force/torque data from left hand"
    },
    "obs_ft_left": {
      "dtype": "float64",
      "shape": [
        6
      ],
      "names": [
        "force_x",
        "force_y",
        "force_z",
        "torque_x",
        "torque_y",
        "torque_z"
      ],
      "description": "Optional force/torque data from left hand"
    }
  }
}