wave-left proprioception-only Diffusion Policy (LeRobot 0.6.1, 30k steps) + initial state
5da3d7e verified | { | |
| "task": "wave-left", | |
| "instruction": "wave using the left hand", | |
| "robot_type": "ffw_sg2_rev1", | |
| "n_demos": 11, | |
| "joint_names": [ | |
| "arm_l_joint1", | |
| "arm_l_joint2", | |
| "arm_l_joint3", | |
| "arm_l_joint4", | |
| "arm_l_joint5", | |
| "arm_l_joint6", | |
| "arm_l_joint7", | |
| "gripper_l_joint1", | |
| "arm_r_joint1", | |
| "arm_r_joint2", | |
| "arm_r_joint3", | |
| "arm_r_joint4", | |
| "arm_r_joint5", | |
| "arm_r_joint6", | |
| "arm_r_joint7", | |
| "gripper_r_joint1", | |
| "head_joint1", | |
| "head_joint2", | |
| "lift_joint", | |
| "linear_x", | |
| "linear_y", | |
| "angular_z" | |
| ], | |
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| } |