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| "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": [ |
| "fine_action", |
| "coarse_action" |
| ] |
| } |
| }, |
| "embodiment": { |
| "robot_name": "GR1ArmsAndWaistFourierHands", |
| "robot_type": "GR1ArmsAndWaistFourierHands", |
| "record_frequency": 20.0, |
| "body_controller_frequency": 20.0, |
| "hand_controller_frequency": 20.0, |
| "embodiment_tag": "gr1_unified" |
| }, |
| "processing": null, |
| "version": null |
| } |
