| { | |
| "schema_id": "labutopia_level3_transportbeaker_v3", | |
| "robot_type": "franka", | |
| "state_keys": [ | |
| "observation.state" | |
| ], | |
| "action_keys": [ | |
| "action" | |
| ], | |
| "state_dims": [ | |
| 8 | |
| ], | |
| "action_dims": [ | |
| 8 | |
| ], | |
| "delta_mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "gripper_action_dims": [ | |
| 7 | |
| ], | |
| "image_mapping": { | |
| "observation.images.camera_1_rgb": "observation.images.image0", | |
| "observation.images.camera_2_rgb": "observation.images.image1", | |
| "observation.images.camera_3_rgb": "observation.images.image2" | |
| }, | |
| "source": "manifest", | |
| "source_path": "schemas/labutopia_level3.py", | |
| "arm_layout": { | |
| "arm_count": "single", | |
| "arm_dof": 7, | |
| "gripper_index_in_raw": 7, | |
| "gripper_binarize_threshold": 0.5 | |
| }, | |
| "gripper_semantic": "width" | |
| } | |