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"left_wrist_angle", - "left_wrist_rotate", - "left_gripper" - ] + "width", + "height", + "channels" ] }, - "observation.velocity": { - "dtype": "float32", + "observation.image.low": { + "dtype": "image", "shape": [ - 14 + 224, + 224, + 3 ], "names": [ - [ - "right_waist", - "right_shoulder", - "right_elbow", - "right_forearm_roll", - "right_wrist_angle", - "right_wrist_rotate", - "right_gripper", - "left_waist", - "left_shoulder", - "left_elbow", - "left_forearm_roll", - "left_wrist_angle", - "left_wrist_rotate", - "left_gripper" - ] + "width", + "height", + "channels" ] }, - "observation.effort": { - "dtype": "float32", + "observation.image.side": { + "dtype": "image", "shape": [ - 14 + 224, + 224, + 3 ], "names": [ - [ - "right_waist", - "right_shoulder", - "right_elbow", - "right_forearm_roll", - "right_wrist_angle", - "right_wrist_rotate", - "right_gripper", - "left_waist", - "left_shoulder", - "left_elbow", - "left_forearm_roll", - "left_wrist_angle", - "left_wrist_rotate", - "left_gripper" - ] + "width", + "height", + "channels" ] }, - "observation.images.cam_high": { + "observation.image.wrist": { "dtype": "image", "shape": [ - 3, - 480, - 640 + 224, + 224, + 3 ], "names": [ - "channels", + "width", "height", - "width" + "channels" ] }, - "observation.images.cam_low": { - "dtype": "image", + "observation.state.gripper": { + "dtype": "float32", "shape": [ - 3, - 480, - 640 + 1 ], "names": [ - "channels", - "height", - "width" + "gripper" ] }, - "observation.images.cam_left_wrist": { - "dtype": "image", + "observation.state.joints": { + "dtype": "float32", "shape": [ - 3, - 480, - 640 + 7 ], "names": [ - "channels", - "height", - "width" + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7" ] }, - "observation.images.cam_right_wrist": { - "dtype": "image", + "observation.state.position": { + "dtype": "float32", "shape": [ - 3, - 480, - 640 + 6 ], "names": [ - "channels", - "height", - "width" + "x", + "y", + "z", + "rx", + "ry", + "rz" ] }, "timestamp": { diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl index 5217d18d979e49e54bcf28d438335ceb52a4a274..0849810fb29082a92a186a8af0208443083424cf 100644 --- a/meta/tasks.jsonl +++ b/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "stack"} +{"task_index": 0, "task": "b'task-stack all the blocks vertically'"}