PhysicalAI-Robotics-Manipulation-Kitchen-Demos / pretrain /composite /AssembleCookingArray /20250721 /lerobot /meta /modality.json
| { | |
| "state": { | |
| "base_position": { | |
| "original_key": "observation.state", | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "base_rotation": { | |
| "original_key": "observation.state", | |
| "start": 3, | |
| "end": 7 | |
| }, | |
| "end_effector_position_relative": { | |
| "original_key": "observation.state", | |
| "start": 7, | |
| "end": 10 | |
| }, | |
| "end_effector_rotation_relative": { | |
| "original_key": "observation.state", | |
| "start": 10, | |
| "end": 14 | |
| }, | |
| "gripper_qpos": { | |
| "original_key": "observation.state", | |
| "start": 14, | |
| "end": 16 | |
| } | |
| }, | |
| "action": { | |
| "base_motion": { | |
| "original_key": "action", | |
| "start": 0, | |
| "end": 4 | |
| }, | |
| "control_mode": { | |
| "original_key": "action", | |
| "start": 4, | |
| "end": 5 | |
| }, | |
| "end_effector_position": { | |
| "original_key": "action", | |
| "start": 5, | |
| "end": 8 | |
| }, | |
| "end_effector_rotation": { | |
| "original_key": "action", | |
| "start": 8, | |
| "end": 11 | |
| }, | |
| "gripper_close": { | |
| "original_key": "action", | |
| "start": 11, | |
| "end": 12 | |
| } | |
| }, | |
| "video": { | |
| "robot0_eye_in_hand": { | |
| "original_key": "observation.images.robot0_eye_in_hand" | |
| }, | |
| "robot0_agentview_left": { | |
| "original_key": "observation.images.robot0_agentview_left" | |
| }, | |
| "robot0_agentview_right": { | |
| "original_key": "observation.images.robot0_agentview_right" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "annotation.human.task_description" | |
| } | |
| } | |
| } |