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README.md
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@@ -48,7 +48,7 @@ The videos below show three examples of the tasks:
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* action modality: 34D which includes joint states for the two arms, gripper joints, pan and tilt joints, torso joint, and front and back wheels.
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* observation modalities
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* observation.state: 13D
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* observation.image.world__world_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
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* observation.image.external_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
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* observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
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* action modality: 34D which includes joint states for the two arms, gripper joints, pan and tilt joints, torso joint, and front and back wheels.
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* observation modalities
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* observation.state: 13D where the first 12D are the vectorized transform matrix of the "object of interest". The 13th entry is the joint value for the articulated object of interest (i.e. drawer, cabinet, etc).
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* observation.image.world__world_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
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* observation.image.external_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
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* observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
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