| { | |
| "state": { | |
| "left_joint_pos": { | |
| "original_key": "observation.state", | |
| "start": 0, | |
| "end": 6, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| }, | |
| "left_gripper_pos": { | |
| "original_key": "observation.state", | |
| "start": 6, | |
| "end": 7, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| }, | |
| "right_joint_pos": { | |
| "original_key": "observation.state", | |
| "start": 7, | |
| "end": 13, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| }, | |
| "right_gripper_pos": { | |
| "original_key": "observation.state", | |
| "start": 13, | |
| "end": 14, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| } | |
| }, | |
| "action": { | |
| "left_joint_pos": { | |
| "original_key": "action", | |
| "start": 0, | |
| "end": 6, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| }, | |
| "left_gripper_pos": { | |
| "original_key": "action", | |
| "start": 6, | |
| "end": 7, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| }, | |
| "right_joint_pos": { | |
| "original_key": "action", | |
| "start": 7, | |
| "end": 13, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| }, | |
| "right_gripper_pos": { | |
| "original_key": "action", | |
| "start": 13, | |
| "end": 14, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| } | |
| }, | |
| "video": { | |
| "main": { | |
| "original_key": "observation.images.main" | |
| }, | |
| "left_wrist": { | |
| "original_key": "observation.images.left_wrist" | |
| }, | |
| "right_wrist": { | |
| "original_key": "observation.images.right_wrist" | |
| } | |
| }, | |
| "annotation": { | |
| "task": { | |
| "original_key": "annotation.task" | |
| } | |
| } | |
| } |