dynamics-probing / reach /meta /modality.json
leesangoh's picture
Recollected reach (2026-04-23 fix: contact forces restored)
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{
"state": {
"x": {
"start": 0,
"end": 1
},
"y": {
"start": 1,
"end": 2
},
"z": {
"start": 2,
"end": 3
},
"roll": {
"start": 3,
"end": 4
},
"pitch": {
"start": 4,
"end": 5
},
"yaw": {
"start": 5,
"end": 6
},
"pad": {
"start": 6,
"end": 7
},
"gripper": {
"start": 7,
"end": 8
}
},
"action": {
"x": {
"start": 0,
"end": 1
},
"y": {
"start": 1,
"end": 2
},
"z": {
"start": 2,
"end": 3
},
"roll": {
"start": 3,
"end": 4
},
"pitch": {
"start": 4,
"end": 5
},
"yaw": {
"start": 5,
"end": 6
},
"gripper": {
"start": 6,
"end": 7
}
},
"video": {
"image_0": {
"original_key": "observation.images.image_0"
},
"image_1": {
"original_key": "observation.images.image_1"
}
},
"annotation": {
"human.action.task_description": {
"original_key": "task_index"
}
}
}