Initial upload: wigs locomani sim dataset (universal schema, 18-D state norm_stats)
67701f9 verified | { | |
| "state": { | |
| "left_leg": { | |
| "start": 0, | |
| "end": 6 | |
| }, | |
| "right_leg": { | |
| "start": 6, | |
| "end": 12 | |
| }, | |
| "waist": { | |
| "start": 12, | |
| "end": 15 | |
| }, | |
| "left_arm": { | |
| "start": 15, | |
| "end": 22 | |
| }, | |
| "left_hand": { | |
| "start": 22, | |
| "end": 29 | |
| }, | |
| "right_arm": { | |
| "start": 29, | |
| "end": 36 | |
| }, | |
| "right_hand": { | |
| "start": 36, | |
| "end": 43 | |
| }, | |
| "left_wrist_pos": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "observation.eef_state" | |
| }, | |
| "left_wrist_abs_quat": { | |
| "start": 3, | |
| "end": 7, | |
| "original_key": "observation.eef_state", | |
| "rotation_type": "quaternion" | |
| }, | |
| "right_wrist_pos": { | |
| "start": 7, | |
| "end": 10, | |
| "original_key": "observation.eef_state" | |
| }, | |
| "right_wrist_abs_quat": { | |
| "start": 10, | |
| "end": 14, | |
| "original_key": "observation.eef_state", | |
| "rotation_type": "quaternion" | |
| }, | |
| "root_orientation": { | |
| "start": 0, | |
| "end": 4, | |
| "original_key": "observation.root_orientation", | |
| "rotation_type": "quaternion" | |
| }, | |
| "projected_gravity": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "observation.projected_gravity" | |
| }, | |
| "cpp_rotation_offset": { | |
| "start": 0, | |
| "end": 4, | |
| "original_key": "observation.cpp_rotation_offset", | |
| "rotation_type": "quaternion" | |
| }, | |
| "init_base_quat": { | |
| "start": 0, | |
| "end": 4, | |
| "original_key": "observation.init_base_quat", | |
| "rotation_type": "quaternion" | |
| } | |
| }, | |
| "action": { | |
| "delta_heading": { | |
| "start": 0, | |
| "end": 1, | |
| "original_key": "teleop.delta_heading" | |
| }, | |
| "motion_token": { | |
| "start": 0, | |
| "end": 64, | |
| "original_key": "action.motion_token" | |
| }, | |
| "smpl_joints": { | |
| "start": 0, | |
| "end": 72, | |
| "original_key": "teleop.smpl_joints" | |
| }, | |
| "smpl_pose": { | |
| "start": 0, | |
| "end": 63, | |
| "original_key": "teleop.smpl_pose" | |
| }, | |
| "body_quat_w": { | |
| "start": 0, | |
| "end": 4, | |
| "original_key": "teleop.body_quat_w", | |
| "rotation_type": "quaternion" | |
| }, | |
| "target_body_orientation": { | |
| "start": 0, | |
| "end": 6, | |
| "original_key": "teleop.target_body_orientation", | |
| "rotation_type": "rotation_6d" | |
| }, | |
| "left_hand_joints": { | |
| "start": 0, | |
| "end": 7, | |
| "original_key": "teleop.left_hand_joints" | |
| }, | |
| "right_hand_joints": { | |
| "start": 0, | |
| "end": 7, | |
| "original_key": "teleop.right_hand_joints" | |
| }, | |
| "left_wrist_joints": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "teleop.left_wrist_joints" | |
| }, | |
| "right_wrist_joints": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "teleop.right_wrist_joints" | |
| }, | |
| "stream_mode": { | |
| "start": 0, | |
| "end": 1, | |
| "original_key": "teleop.stream_mode" | |
| }, | |
| "planner_mode": { | |
| "start": 0, | |
| "end": 1, | |
| "original_key": "teleop.planner_mode" | |
| }, | |
| "planner_movement": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "teleop.planner_movement" | |
| }, | |
| "planner_facing": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "teleop.planner_facing" | |
| }, | |
| "planner_speed": { | |
| "start": 0, | |
| "end": 1, | |
| "original_key": "teleop.planner_speed" | |
| }, | |
| "planner_height": { | |
| "start": 0, | |
| "end": 1, | |
| "original_key": "teleop.planner_height" | |
| }, | |
| "vr_3pt_position": { | |
| "start": 0, | |
| "end": 9, | |
| "original_key": "teleop.vr_3pt_position" | |
| }, | |
| "vr_3pt_orientation": { | |
| "start": 0, | |
| "end": 18, | |
| "original_key": "teleop.vr_3pt_orientation", | |
| "rotation_type": "rotation_6d" | |
| } | |
| }, | |
| "video": { | |
| "ego_view": { | |
| "original_key": "observation.images.ego_view" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |