23 lines
619 B
JSON
23 lines
619 B
JSON
{
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"payloads": {
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"audio_left_tone": {
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"modality": "audio",
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"signal": {"id": "witness_left_tone", "kind": "tone", "ms": 240, "hz": 180, "sweep": 0, "amp": 0.4}
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},
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"vision_corner": {
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"modality": "vision",
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"signal": {"id": "witness_corner", "kind": "corner", "size": 32}
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},
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"sensorimotor_contact": {
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"modality": "sensorimotor",
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"signal": {
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"id": "witness_contact",
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"pose_q": [10, -4, 3],
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"velocity_q": [1, 0, -1],
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"force_torque_q": [2, 3, 5],
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"contact_q": [1, 0, 1, 0],
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"actuator_state_q": [7, 8]
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}
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}
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}
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}
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