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}, | |
"left_hand": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"left_leg": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"neck": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
3 | |
], | |
"continuous": true | |
}, | |
"right_arm": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
7 | |
], | |
"continuous": true | |
}, | |
"right_hand": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"right_leg": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"waist": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
3 | |
], | |
"continuous": true | |
} | |
}, | |
"action": { | |
"left_arm": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
7 | |
], | |
"continuous": true | |
}, | |
"left_hand": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"left_leg": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"neck": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
3 | |
], | |
"continuous": true | |
}, | |
"right_arm": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
7 | |
], | |
"continuous": true | |
}, | |
"right_hand": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"right_leg": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"waist": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
3 | |
], | |
"continuous": true | |
} | |
}, | |
"annotation": { | |
"human": [ | |
"action.verb", | |
"action.object", | |
"action.start_location", | |
"action.end_location", | |
"action.hand", | |
"action.rating", | |
"action.failure_code", | |
"action.remarks", | |
"coarse_action", | |
"fine_action", | |
"validity" | |
] | |
} | |
}, | |
"embodiment": { | |
"robot_name": "gr00t004, gr00t001, gr00t003, gr00t005, gr00t006, gr00t007", | |
"robot_type": "GR1T2, GR1T1, GR1T2, GR1T2, GR1T2, GR1T2", | |
"record_frequency": 20.0, | |
"body_controller_frequency": 120.0, | |
"hand_controller_frequency": 40.0, | |
"embodiment_tag": "gr1_unified" | |
}, | |
"processing": null, | |
"version": null | |
} | |
} |