File size: 3,866 Bytes
ebb01c0
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
{
  "action_profile": {
    "type": "direct_eef",
    "action_space": "leroboteef_abs_direct_parquet"
  },
  "fps": 30,
  "features": {
    "action": {
      "shape": [
        16
      ],
      "field_descriptions": {
        "action/left_effector/position": {
          "indices": [
            0
          ]
        },
        "action/right_effector/position": {
          "indices": [
            1
          ]
        },
        "action/end/position": {
          "indices": [
            2,
            3,
            4,
            5,
            6,
            7
          ]
        },
        "action/end/orientation": {
          "indices": [
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15
          ]
        }
      }
    },
    "observation.state": {
      "shape": [
        52
      ],
      "field_descriptions": {
        "state/left_effector/position": {
          "indices": [
            0
          ]
        },
        "state/right_effector/position": {
          "indices": [
            1
          ]
        },
        "state/end/position": {
          "indices": [
            2,
            3,
            4,
            5,
            6,
            7
          ]
        },
        "state/end/orientation": {
          "indices": [
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15
          ]
        },
        "head_extrinsic_params_aligned/rotation_matrix": {
          "indices": [
            16,
            17,
            18,
            19,
            20,
            21,
            22,
            23,
            24
          ]
        },
        "head_extrinsic_params_aligned/translation_vector": {
          "indices": [
            25,
            26,
            27
          ]
        },
        "hand_left_extrinsic_params_aligned/rotation_matrix": {
          "indices": [
            28,
            29,
            30,
            31,
            32,
            33,
            34,
            35,
            36
          ]
        },
        "hand_left_extrinsic_params_aligned/translation_vector": {
          "indices": [
            37,
            38,
            39
          ]
        },
        "hand_right_extrinsic_params_aligned/rotation_matrix": {
          "indices": [
            40,
            41,
            42,
            43,
            44,
            45,
            46,
            47,
            48
          ]
        },
        "hand_right_extrinsic_params_aligned/translation_vector": {
          "indices": [
            49,
            50,
            51
          ]
        }
      }
    }
  },
  "camera_parameters": {
    "108": {
      "head_intrinsic_params": {
        "fx": 647.3968505859375,
        "fy": 646.7694091796875,
        "ppx": 640.4290161132812,
        "ppy": 356.02252197265625
      },
      "hand_left_intrinsic_params": {
        "fx": 640.69873046875,
        "fy": 640.5220947265625,
        "ppx": 634.3751220703125,
        "ppy": 357.2757568359375
      },
      "hand_right_intrinsic_params": {
        "fx": 645.6289672851562,
        "fy": 645.26123046875,
        "ppx": 648.6475219726562,
        "ppy": 362.70751953125
      }
    },
    "144": {
      "head_intrinsic_params": {
        "fx": 647.3968505859375,
        "fy": 646.7694091796875,
        "ppx": 640.4290161132812,
        "ppy": 356.02252197265625
      },
      "hand_left_intrinsic_params": {
        "fx": 640.69873046875,
        "fy": 640.5220947265625,
        "ppx": 634.3751220703125,
        "ppy": 357.2757568359375
      },
      "hand_right_intrinsic_params": {
        "fx": 645.6289672851562,
        "fy": 645.26123046875,
        "ppx": 648.6475219726562,
        "ppy": 362.70751953125
      }
    }
  }
}