| { |
| "state": { |
| "left_arm": { |
| "original_key": "observation.state", |
| "start": 0, |
| "end": 7 |
| }, |
| "left_hand": { |
| "original_key": "observation.state", |
| "start": 7, |
| "end": 13 |
| }, |
| "left_leg": { |
| "original_key": "observation.state", |
| "start": 13, |
| "end": 19 |
| }, |
| "neck": { |
| "original_key": "observation.state", |
| "start": 19, |
| "end": 22 |
| }, |
| "right_arm": { |
| "original_key": "observation.state", |
| "start": 22, |
| "end": 29 |
| }, |
| "right_hand": { |
| "original_key": "observation.state", |
| "start": 29, |
| "end": 35 |
| }, |
| "right_leg": { |
| "original_key": "observation.state", |
| "start": 35, |
| "end": 41 |
| }, |
| "waist": { |
| "original_key": "observation.state", |
| "start": 41, |
| "end": 44 |
| }, |
| "eef_left": { |
| "original_key": "observation.state_eef_left", |
| "start": 0, |
| "end": 9 |
| }, |
| "eef_right": { |
| "original_key": "observation.state_eef_right", |
| "start": 0, |
| "end": 9 |
| }, |
| "cam_frame": { |
| "original_key": "observation.state_cam_frame", |
| "start": 0, |
| "end": 9 |
| } |
| }, |
| "action": { |
| "left_arm": { |
| "original_key": "action", |
| "start": 0, |
| "end": 7 |
| }, |
| "left_hand": { |
| "original_key": "action", |
| "start": 7, |
| "end": 13 |
| }, |
| "left_leg": { |
| "original_key": "action", |
| "start": 13, |
| "end": 19 |
| }, |
| "neck": { |
| "original_key": "action", |
| "start": 19, |
| "end": 22 |
| }, |
| "right_arm": { |
| "original_key": "action", |
| "start": 22, |
| "end": 29 |
| }, |
| "right_hand": { |
| "original_key": "action", |
| "start": 29, |
| "end": 35 |
| }, |
| "right_leg": { |
| "original_key": "action", |
| "start": 35, |
| "end": 41 |
| }, |
| "waist": { |
| "original_key": "action", |
| "start": 41, |
| "end": 44 |
| }, |
| "eef_left": { |
| "original_key": "action_eef_left", |
| "start": 0, |
| "end": 9 |
| }, |
| "eef_right": { |
| "original_key": "action_eef_right", |
| "start": 0, |
| "end": 9 |
| } |
| }, |
| "video": { |
| "ego_view": { |
| "original_key": "observation.images.ego_view" |
| } |
| }, |
| "annotation": { |
| "human.coarse_action": { |
| "original_key": "annotation.human.coarse_action" |
| } |
| } |
| } |
