| { |
| "video": { |
| "global": { |
| "original_key": "observation.images.global" |
| }, |
| "hand": { |
| "original_key": "observation.images.hand" |
| } |
| }, |
| "state": { |
| "joints": { |
| "original_key": "observation.state", |
| "start": 0, |
| "end": 6, |
| "absolute": true, |
| "dtype": "float32" |
| }, |
| "gripper": { |
| "original_key": "observation.state", |
| "start": 6, |
| "end": 7, |
| "absolute": true, |
| "dtype": "float32", |
| "range": [ |
| 0.0, |
| 1.0 |
| ] |
| } |
| }, |
| "action": { |
| "joints": { |
| "original_key": "action", |
| "start": 0, |
| "end": 6, |
| "absolute": true, |
| "dtype": "float32" |
| }, |
| "gripper": { |
| "original_key": "action", |
| "start": 6, |
| "end": 7, |
| "absolute": true, |
| "dtype": "float32", |
| "range": [ |
| 0.0, |
| 1.0 |
| ] |
| } |
| }, |
| "annotation": { |
| "human.action.task_description": { |
| "original_key": "task_index" |
| } |
| } |
| } |
|
|
