Datasets:
Add SO101 6-DOF wrist+front modality.json
Browse files- meta/modality.json +18 -0
meta/modality.json
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation": {
|
| 3 |
+
"state": [
|
| 4 |
+
{"name": "joint_pos", "shape": [6], "dtype": "float32"},
|
| 5 |
+
{"name": "joint_vel", "shape": [6], "dtype": "float32"},
|
| 6 |
+
{"name": "actions", "shape": [6], "dtype": "float32"},
|
| 7 |
+
{"name": "gripper_pos", "shape": [1], "dtype": "float32"}
|
| 8 |
+
]
|
| 9 |
+
},
|
| 10 |
+
"action": [
|
| 11 |
+
{"name": "joint_target", "shape": [6], "dtype": "float32"},
|
| 12 |
+
{"name": "gripper_target", "shape": [1], "dtype": "float32"}
|
| 13 |
+
],
|
| 14 |
+
"videos": {
|
| 15 |
+
"observation.images.wrist": "episode_%05d_wrist.mp4",
|
| 16 |
+
"observation.images.front": "episode_%05d_front.mp4"
|
| 17 |
+
}
|
| 18 |
+
}
|