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+ "names": [ + "left_hand_0", + "left_hand_1", + "left_hand_2", + "left_hand_3", + "left_hand_4", + "left_hand_5", + "left_hand_6", + "right_hand_0", + "right_hand_1", + "right_hand_2", + "right_hand_3", + "right_hand_4", + "right_hand_5", + "right_hand_6", + "left_arm_0", + "left_arm_1", + "left_arm_2", + "left_arm_3", + "left_arm_4", + "left_arm_5", + "left_arm_6", + "right_arm_0", + "right_arm_1", + "right_arm_2", + "right_arm_3", + "right_arm_4", + "right_arm_5", + "right_arm_6", + "rpy_r", + "rpy_p", + "rpy_y", + "height" + ] + }, + "action.g1_loco_36": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_hand_0", + "left_hand_1", + "left_hand_2", + "left_hand_3", + "left_hand_4", + "left_hand_5", + "left_hand_6", + "right_hand_0", + "right_hand_1", + "right_hand_2", + "right_hand_3", + "right_hand_4", + "right_hand_5", + "right_hand_6", + "left_arm_0", + "left_arm_1", + "left_arm_2", + "left_arm_3", + "left_arm_4", + "left_arm_5", + "left_arm_6", + "right_arm_0", + "right_arm_1", + "right_arm_2", + "right_arm_3", + "right_arm_4", + "right_arm_5", + "right_arm_6", + "rpy_r", + "rpy_p", + "rpy_y", + "height", + "torso_vx", + "torso_vy", + "torso_vyaw", + "target_yaw" + ] } }, "script_config": { diff --git a/meta/modality_g1_loco.json b/meta/modality_g1_loco.json new file mode 100644 index 0000000000000000000000000000000000000000..a831b96af3e11258321d2aeec41dfd101d7c933d --- /dev/null +++ b/meta/modality_g1_loco.json @@ -0,0 +1,96 @@ +{ + "state": { + "left_hand": { + "start": 0, + "end": 7, + "original_key": "observation.state_g1_loco_32" + }, + "right_hand": { + "start": 7, + "end": 14, + "original_key": "observation.state_g1_loco_32" + }, + "left_arm": { + "start": 14, + "end": 21, + "original_key": "observation.state_g1_loco_32" + }, + "right_arm": { + "start": 21, + "end": 28, + "original_key": "observation.state_g1_loco_32" + }, + "rpy": { + "start": 28, + "end": 31, + "original_key": "observation.state_g1_loco_32" + }, + "height": { + 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"original_key": "observation.images.ego_view" + } + }, + "annotation": { + "human.task_description": { + "original_key": "task_index" + } + } +} \ No newline at end of file