| { |
| "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" |
| } |
| } |
| } |
