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pose6daug-vace-processor

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pose6daug-vace-processor
File size: 1,587 Bytes
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{
  "state": {
    "base_position": {
      "original_key": "observation.state",
      "start": 0,
      "end": 3
    },
    "base_rotation": {
      "original_key": "observation.state",
      "start": 3,
      "end": 7,
      "rotation_type": "quaternion"
    },
    "end_effector_position_relative": {
      "original_key": "observation.state",
      "start": 7,
      "end": 10
    },
    "end_effector_rotation_relative": {
      "original_key": "observation.state",
      "start": 10,
      "end": 14,
      "rotation_type": "quaternion"
    },
    "gripper_qpos": {
      "original_key": "observation.state",
      "start": 14,
      "end": 16
    }
  },
  "action": {
    "base_motion": {
      "original_key": "action",
      "start": 0,
      "end": 4
    },
    "control_mode": {
      "original_key": "action",
      "start": 4,
      "end": 5
    },
    "end_effector_position": {
      "original_key": "action",
      "start": 5,
      "end": 8
    },
    "end_effector_rotation": {
      "original_key": "action",
      "start": 8,
      "end": 11
    },
    "gripper_close": {
      "original_key": "action",
      "start": 11,
      "end": 12
    }
  },
  "video": {
    "left_view": {
      "original_key": "observation.images.robot0_agentview_left"
    },
    "right_view": {
      "original_key": "observation.images.robot0_agentview_right"
    },
    "wrist_view": {
      "original_key": "observation.images.robot0_eye_in_hand"
    }
  },
  "annotation": {
    "human.action.task_description": {
      "original_key": "annotation.human.task_description"
    }
  }
}