| { | |
| "state": { | |
| "left_arm_qpos": { | |
| "start":12, | |
| "end":18, | |
| "original_key": "observation.state" | |
| }, | |
| "left_gripper_qpos_state": { | |
| "start":18, | |
| "end":20, | |
| "original_key": "observation.state" | |
| }, | |
| "right_arm_qpos": { | |
| "start":20, | |
| "end":26, | |
| "original_key": "observation.state" | |
| }, | |
| "right_gripper_qpos_state": { | |
| "start":26, | |
| "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" | |
| } | |
| } | |
| } |