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{
"state": {
"arm_qpos": {
"start": 12,
"end": 28,
"original_key": "observation.state"
}
},
"action": {
"left_arm_delta_qpos": {
"start": 0,
"end": 6,
"original_key": "arm_delta_action"
},
"right_arm_delta_qpos": {
"start": 6,
"end": 12,
"original_key": "arm_delta_action"
},
"left_gripper_close": {
"start": 0,
"end": 1,
"original_key": "gripper_action"
},
"right_gripper_close": {
"start": 1,
"end": 2,
"original_key": "gripper_action"
}
},
"video": {
"left_view": {
"original_key": "observation.images.left_view"
},
"right_view": {
"original_key": "observation.images.right_view"
},
"top_view":{
"original_key": "observation.images.top_view"
}
},
"annotation": {
"human.action.task_description": {
"original_key": "task_index"
},
"human.validity": {
"original_key": "task_index"
}
}
} |