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| }, | |
| "end_effector_rotation_absolute": { | |
| "absolute": true, | |
| "rotation_type": "quaternion", | |
| "shape": [ | |
| 4 | |
| ], | |
| "continuous": true | |
| }, | |
| "end_effector_rotation_relative": { | |
| "absolute": true, | |
| "rotation_type": "quaternion", | |
| "shape": [ | |
| 4 | |
| ], | |
| "continuous": true | |
| }, | |
| "gripper_qpos": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 2 | |
| ], | |
| "continuous": true | |
| }, | |
| "gripper_qvel": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 2 | |
| ], | |
| "continuous": true | |
| }, | |
| "joint_position": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 7 | |
| ], | |
| "continuous": true | |
| }, | |
| "joint_position_cos": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 7 | |
| ], | |
| "continuous": true | |
| }, | |
| "joint_position_sin": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 7 | |
| ], | |
| "continuous": true | |
| }, | |
| "joint_velocity": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 7 | |
| ], | |
| "continuous": true | |
| } | |
| }, | |
| "action": { | |
| "base_motion": { | |
| "absolute": false, | |
| "rotation_type": null, | |
| "shape": [ | |
| 4 | |
| ], | |
| "continuous": true | |
| }, | |
| "control_mode": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 1 | |
| ], | |
| "continuous": false | |
| }, | |
| "end_effector_position": { | |
| "absolute": false, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| }, | |
| "end_effector_rotation": { | |
| "absolute": false, | |
| "rotation_type": "axis_angle", | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| }, | |
| "gripper_close": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 1 | |
| ], | |
| "continuous": false | |
| } | |
| }, | |
| "annotation": { | |
| "human": [ | |
| "action.task_description", | |
| "action.task_name", | |
| "validity" | |
| ] | |
| } | |
| }, | |
| "embodiment": { | |
| "robot_name": "Franka", | |
| "robot_type": "Panda+OmronBase", | |
| "record_frequency": 20.0, | |
| "body_controller_frequency": null, | |
| "hand_controller_frequency": null, | |
| "embodiment_tag": "robocasa_panda_omron" | |
| }, | |
| "processing": null, | |
| "version": null | |
| } | |
| } |