Download meta/modality.json from periphanes/behavior_r1_pro_val: direct link, hf CLI and curl.
- Browser
- Download file 11.2 kB
-
https://huggingface.co/datasets/periphanes/behavior_r1_pro_val/resolve/main/meta/modality.json
- Command line
-
hf download hf://datasets/periphanes/behavior_r1_pro_val/meta/modality.json
-
curl -L -o modality.json https://huggingface.co/datasets/periphanes/behavior_r1_pro_val/resolve/main/meta/modality.json
11.2 kB
| { | |
| "state": { | |
| "joint_qpos": { | |
| "original_key": "observation.state", | |
| "start": 0, | |
| "end": 28, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "joint_qpos_sin": { | |
| "original_key": "observation.state", | |
| "start": 28, | |
| "end": 56, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "joint_qpos_cos": { | |
| "original_key": "observation.state", | |
| "start": 56, | |
| "end": 84, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "joint_qvel": { | |
| "original_key": "observation.state", | |
| "start": 84, | |
| "end": 112, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "joint_qeffort": { | |
| "original_key": "observation.state", | |
| "start": 112, | |
| "end": 140, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "robot_pos": { | |
| "original_key": "observation.state", | |
| "start": 140, | |
| "end": 143, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "robot_ori_cos": { | |
| "original_key": "observation.state", | |
| "start": 143, | |
| "end": 146, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "robot_ori_sin": { | |
| "original_key": "observation.state", | |
| "start": 146, | |
| "end": 149, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "robot_2d_ori": { | |
| "original_key": "observation.state", | |
| "start": 149, | |
| "end": 150, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "robot_2d_ori_cos": { | |
| "original_key": "observation.state", | |
| "start": 150, | |
| "end": 151, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "robot_2d_ori_sin": { | |
| "original_key": "observation.state", | |
| "start": 151, | |
| "end": 152, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "robot_lin_vel": { | |
| "original_key": "observation.state", | |
| "start": 152, | |
| "end": 155, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "robot_ang_vel": { | |
| "original_key": "observation.state", | |
| "start": 155, | |
| "end": 158, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "arm_left_qpos": { | |
| "original_key": "observation.state", | |
| "start": 158, | |
| "end": 165, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "arm_left_qpos_sin": { | |
| "original_key": "observation.state", | |
| "start": 165, | |
| "end": 172, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "arm_left_qpos_cos": { | |
| "original_key": "observation.state", | |
| "start": 172, | |
| "end": 179, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "arm_left_qvel": { | |
| "original_key": "observation.state", | |
| "start": 179, | |
| "end": 186, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "eef_left_pos": { | |
| "original_key": "observation.state", | |
| "start": 186, | |
| "end": 189, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "eef_left_quat": { | |
| "original_key": "observation.state", | |
| "start": 189, | |
| "end": 193, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "gripper_left_qpos": { | |
| "original_key": "observation.state", | |
| "start": 193, | |
| "end": 195, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "gripper_left_qvel": { | |
| "original_key": "observation.state", | |
| "start": 195, | |
| "end": 197, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "arm_right_qpos": { | |
| "original_key": "observation.state", | |
| "start": 197, | |
| "end": 204, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "arm_right_qpos_sin": { | |
| "original_key": "observation.state", | |
| "start": 204, | |
| "end": 211, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "arm_right_qpos_cos": { | |
| "original_key": "observation.state", | |
| "start": 211, | |
| "end": 218, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "arm_right_qvel": { | |
| "original_key": "observation.state", | |
| "start": 218, | |
| "end": 225, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "eef_right_pos": { | |
| "original_key": "observation.state", | |
| "start": 225, | |
| "end": 228, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "eef_right_quat": { | |
| "original_key": "observation.state", | |
| "start": 228, | |
| "end": 232, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "gripper_right_qpos": { | |
| "original_key": "observation.state", | |
| "start": 232, | |
| "end": 234, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "gripper_right_qvel": { | |
| "original_key": "observation.state", | |
| "start": 234, | |
| "end": 236, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "trunk_qpos": { | |
| "original_key": "observation.state", | |
| "start": 236, | |
| "end": 240, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "trunk_qvel": { | |
| "original_key": "observation.state", | |
| "start": 240, | |
| "end": 244, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "base_qpos": { | |
| "original_key": "observation.state", | |
| "start": 244, | |
| "end": 247, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "base_qpos_sin": { | |
| "original_key": "observation.state", | |
| "start": 247, | |
| "end": 250, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "base_qpos_cos": { | |
| "original_key": "observation.state", | |
| "start": 250, | |
| "end": 253, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "base_qvel": { | |
| "original_key": "observation.state", | |
| "start": 253, | |
| "end": 256, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| } | |
| }, | |
| "action": { | |
| "base": { | |
| "original_key": "action", | |
| "start": 0, | |
| "end": 3, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "torso": { | |
| "original_key": "action", | |
| "start": 3, | |
| "end": 7, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "left_arm": { | |
| "original_key": "action", | |
| "start": 7, | |
| "end": 14, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "left_gripper": { | |
| "original_key": "action", | |
| "start": 14, | |
| "end": 15, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "right_arm": { | |
| "original_key": "action", | |
| "start": 15, | |
| "end": 22, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| }, | |
| "right_gripper": { | |
| "original_key": "action", | |
| "start": 22, | |
| "end": 23, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float64", | |
| "range": null | |
| } | |
| }, | |
| "video": { | |
| "observation.images.rgb.left_wrist_256_256": { | |
| "original_key": "observation.images.observation.images.rgb.left_wrist_256_256" | |
| }, | |
| "observation.images.rgb.right_wrist_256_256": { | |
| "original_key": "observation.images.observation.images.rgb.right_wrist_256_256" | |
| }, | |
| "observation.images.rgb.head_256_256": { | |
| "original_key": "observation.images.observation.images.rgb.head_256_256" | |
| } | |
| }, | |
| "annotation": { | |
| "human.coarse_action": { | |
| "original_key": "annotation.human.coarse_action" | |
| } | |
| } | |
| } |