bimanual_panda_gripper.ThreePieceAssembly/meta/modality.json.backup

{
    "state": {
        "left_arm_eef_pos": {
            "start": 0,
            "end": 3
        },
        "left_arm_eef_quat": {
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            "end": 7,
            "rotation_type": "quaternion"
        },
        "left_arm_joint_pos": {
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            "end": 14
        },
        "left_gripper_qpos": {
            "start": 14,
            "end": 16
        },
        "right_arm_eef_pos": {
            "start": 16,
            "end": 19
        },
        "right_arm_eef_quat": {
            "start": 19,
            "end": 23,
            "rotation_type": "quaternion"
        },
        "right_arm_joint_pos": {
            "start": 23,
            "end": 30
        },
        "right_gripper_qpos": {
            "start": 30,
            "end": 32
        }
    },
    "action": {
        "left_arm_eef_pos": {
            "start": 0,
            "end": 3,
            "absolute": false
        },
        "left_arm_eef_rot": {
            "start": 3,
            "end": 6,
            "absolute": false,
            "rotation_type": "axis_angle"
        },
        "left_gripper_close": {
            "start": 6,
            "end": 7,
            "dtype": "int64"
        },
        "right_arm_eef_pos": {
            "start": 7,
            "end": 10,
            "absolute": false
        },
        "right_arm_eef_rot": {
            "start": 10,
            "end": 13,
            "absolute": false,
            "rotation_type": "axis_angle"
        },
        "right_gripper_close": {
            "start": 13,
            "end": 14,
            "dtype": "int64"
        }
    },
    "video": {
        "robot0_eye_in_hand_pad_res256_freq20": {
            "original_key": "observation.images.robot0_eye_in_hand_pad_res256_freq20"
        },
        "robot1_eye_in_hand_pad_res256_freq20": {
            "original_key": "observation.images.robot1_eye_in_hand_pad_res256_freq20"
        },
        "agentview_pad_res256_freq20": {
            "original_key": "observation.images.agentview_pad_res256_freq20"
        }
    },
    "annotation": {
        "human.action.task_description": {},
        "human.validity": {}
    }
}