| { | |
| "state": { | |
| "position": { | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "rotation": { | |
| "start": 3, | |
| "end": 6, | |
| "rotation_type": "euler_angles_rpy" | |
| }, | |
| "gripper": { | |
| "start": 6, | |
| "end": 7 | |
| } | |
| }, | |
| "action": { | |
| "position": { | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "rotation": { | |
| "start": 3, | |
| "end": 6, | |
| "rotation_type": "euler_angles_rpy" | |
| }, | |
| "gripper": { | |
| "start": 6, | |
| "end": 7 | |
| } | |
| }, | |
| "video": { | |
| "image": { | |
| "original_key": "observation.images.image" | |
| }, | |
| "wrist_image": { | |
| "original_key": "observation.images.wrist_image" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { "original_key": "task_index" } | |
| } | |
| } |