PhysicalAI-Robotics-Open-H-Embodiment / cmr-surgical /peg_transfer_extra_clean_segment /meta /modality.json
| { | |
| "state": { | |
| "left_pose": { | |
| "start": 0, | |
| "end": 7, | |
| "original_key": "action" | |
| }, | |
| "left_gripper": { | |
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| "end": 11, | |
| "original_key": "action" | |
| }, | |
| "right_pose": { | |
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| "end": 20, | |
| "original_key": "action" | |
| }, | |
| "right_gripper": { | |
| "start": 23, | |
| "end": 24, | |
| "original_key": "action" | |
| }, | |
| "translation_scaling": { | |
| "start": 12, | |
| "end": 13, | |
| "original_key": "observation.state" | |
| }, | |
| "rotation_scaling": { | |
| "start": 13, | |
| "end": 14, | |
| "original_key": "observation.state" | |
| }, | |
| "hapticengaged_left": { | |
| "start": 16, | |
| "end": 17, | |
| "original_key": "observation.state" | |
| }, | |
| "hapticengaged_right": { | |
| "start": 17, | |
| "end": 18, | |
| "original_key": "observation.state" | |
| } | |
| }, | |
| "action": { | |
| "left_pose": { | |
| "start": 0, | |
| "end": 7 | |
| }, | |
| "left_gripper": { | |
| "start": 10, | |
| "end": 11 | |
| }, | |
| "right_pose": { | |
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| "end": 20 | |
| }, | |
| "right_gripper": { | |
| "start": 23, | |
| "end": 24 | |
| }, | |
| "hapticengaged_left": { | |
| "start": 16, | |
| "end": 17, | |
| "original_key": "observation.state" | |
| }, | |
| "hapticengaged_right": { | |
| "start": 17, | |
| "end": 18, | |
| "original_key": "observation.state" | |
| } | |
| }, | |
| "video": { | |
| "endoscope": { | |
| "original_key": "observation.images.endoscope" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "instruction.text_with_state", | |
| "is_text": true | |
| } | |
| } | |
| } | |