| { | |
| "state": { | |
| "eef_pos": { | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "eef_rot": { | |
| "start": 3, | |
| "end": 9, | |
| "rotation_type": "rotation_6d" | |
| }, | |
| "right_hand": { | |
| "start": 9, | |
| "end": 25 | |
| } | |
| }, | |
| "action": { | |
| "eef_pos": { | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "eef_rot": { | |
| "start": 3, | |
| "end": 9, | |
| "rotation_type": "rotation_6d" | |
| }, | |
| "right_hand": { | |
| "start": 9, | |
| "end": 25 | |
| } | |
| }, | |
| "video": { | |
| "ego_view": { | |
| "original_key": "observation.images.ego_view" | |
| }, | |
| "wrist_view": { | |
| "original_key": "observation.images.wrist_view" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": {}, | |
| "human.validity": {}, | |
| "human.coarse_action": { | |
| "original_key": "annotation.human.action.task_description" | |
| } | |
| } | |
| } |