| { |
| "state": { |
| "end_pos": {"start": 0, "end": 6, "original_key": "observation.states.end.position"}, |
| "end_rot": {"start": 0, "end": 8, "rotation_type": "quaternion", "quat_order": "xyzw", "original_key": "observation.states.end.orientation"}, |
| "gripper": {"start": 0, "end": 2, "original_key": "observation.states.effector.position"} |
| }, |
| "action": { |
| "end_pos": {"start": 0, "end": 6, "original_key": "actions.end.position"}, |
| "end_rot": {"start": 0, "end": 8, "rotation_type": "quaternion", "quat_order": "xyzw", "original_key": "actions.end.orientation"}, |
| "gripper": {"start": 0, "end": 2, "original_key": "actions.effector.position"} |
| }, |
| "video": { |
| "head": {"original_key": "observation.images.head"}, |
| "hand_left": {"original_key": "observation.images.hand_left"}, |
| "hand_right": {"original_key": "observation.images.hand_right"} |
| }, |
| "annotation": { |
| "human.action.task_description": {"original_key": "task_index"} |
| } |
| } |
|
|
