| { |
| "state": { |
| "left_hand_world_joints": { |
| "start": 0, |
| "end": 63, |
| "description": "Left 21 joints xyz, gravity-aligned metric WORLD frame, meters. 63=21x3, j00=wrist..j20=pinky-tip." |
| }, |
| "left_finger_angles": { |
| "start": 63, |
| "end": 93, |
| "description": "Left 15 finger joints x [flexion, abduction], signed radians, 30 values interleaved [j0_flex, j0_abd, j1_flex, ...]. Joint order is level-major, thumb->pinky within each level: [thumb_cmc, index_mcp, middle_mcp, ring_mcp, pinky_mcp, thumb_mcp, index_pip, middle_pip, ring_pip, pinky_pip, thumb_ip, index_dip, middle_dip, ring_dip, pinky_dip] (anatomical naming; per-dim names in info.json). Working range: flexion ~0-1.5, abduction ~+-0.4. Anatomical joint angles; retarget to robot-hand joints as needed." |
| }, |
| "left_grip_closure": { |
| "start": 93, |
| "end": 94, |
| "description": "Left grip-closure scalar in [0,1] = mean flexion of the 5 MCP + 5 PIP joints / 90deg, clipped. 0=open hand, 1=closed fist (reaches 1.0 in the data). Derived from 3D joints, not a fingertip/pinch distance." |
| }, |
| "right_hand_world_joints": { |
| "start": 94, |
| "end": 157, |
| "description": "Right 21 joints xyz, WORLD frame, meters." |
| }, |
| "right_finger_angles": { |
| "start": 157, |
| "end": 187, |
| "description": "Right 15 finger joints x [flexion, abduction], signed radians, 30 values interleaved [j0_flex, j0_abd, j1_flex, ...]. Joint order is level-major, thumb->pinky within each level: [thumb_cmc, index_mcp, middle_mcp, ring_mcp, pinky_mcp, thumb_mcp, index_pip, middle_pip, ring_pip, pinky_pip, thumb_ip, index_dip, middle_dip, ring_dip, pinky_dip] (anatomical naming; per-dim names in info.json). Working range: flexion ~0-1.5, abduction ~+-0.4. Anatomical joint angles; retarget to robot-hand joints as needed." |
| }, |
| "right_grip_closure": { |
| "start": 187, |
| "end": 188, |
| "description": "Right grip-closure scalar in [0,1] (mean MCP+PIP flexion / 90deg, clipped). 0=open hand, 1=closed fist." |
| } |
| }, |
| "video": { |
| "main_stereo_left": { |
| "original_key": "observation.images.main_stereo_left" |
| }, |
| "main_stereo_right": { |
| "original_key": "observation.images.main_stereo_right" |
| }, |
| "aux_left": { |
| "original_key": "observation.images.aux_left" |
| }, |
| "aux_right": { |
| "original_key": "observation.images.aux_right" |
| } |
| }, |
| "annotation": { |
| "human.action.task_description": { |
| "original_key": "task_index" |
| } |
| } |
| } |
