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"right_wrist_pitch_joint", "right_wrist_yaw_joint", "right_hand_index_0_joint", "right_hand_index_1_joint", "right_hand_middle_0_joint", "right_hand_middle_1_joint", "right_hand_thumb_0_joint", "right_hand_thumb_1_joint", "right_hand_thumb_2_joint" ] }, "action.eef": { "dtype": "float64", "shape": [ 14 ], "names": [ "left_wrist_pos", "left_wrist_abs_quat", "right_wrist_pos", "right_wrist_abs_quat" ] }, "observation.img_state_delta": { "dtype": "float32", "shape": [ 1 ], "names": "img_state_delta" }, "teleop.navigate_command": { "dtype": "float64", "shape": [ 3 ], "names": [ "lin_vel_x", "lin_vel_y", "ang_vel_z" ] }, "teleop.base_height_command": { "dtype": "float64", "shape": [ 1 ], "names": "base_height_command" }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null } }, "script_config": { "wbc_version": "gear_wbc", "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx", "wbc_policy_class": "G1DecoupledWholeBodyPolicy", "interface": "lo", "simulator": "None", "sim_sync_mode": false, "control_frequency": 50, "sim_frequency": 200, "robot_variant": "g1_29dof", "enable_waist": false, "with_hands": true, "high_elbow_pose": false, "no_wrist": true, "verbose": true, "enable_offscreen": false, "enable_onscreen": true, "upper_body_joint_speed": 1000, "env_name": "default", "ik_indicator": false, "verbose_timing": false, "debug_lowlevel_io": false, "keyboard_dispatcher_type": "raw", "enable_gravity_compensation": false, "gravity_compensation_joints": null, "body_control_device": "dummy", "hand_control_device": "dummy", "body_streamer_ip": "10.112.210.229", "body_streamer_keyword": "knee", "enable_visualization": false, "enable_real_device": true, "teleop_frequency": 20, "teleop_replay_path": null, "robot_ip": "192.168.123.164", "data_collection": true, "data_collection_frequency": 20, "root_output_dir": "outputs", "enable_upper_body_operation": true, "upper_body_operation_mode": "teleop" }, "discarded_episode_indices": [], "data_collection_info": { "lower_body_policy": "gear_wbc", "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx", "teleoperator_username": "NEW_USER", "support_operator_username": "NEW_USER", "robot_type": "g1", "robot_id": "sim" } }