| { |
| "state": { |
| "psm1_position": { |
| "original_key": "observation.state", |
| "start": 0, |
| "end": 3, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "psm1_rotation6d": { |
| "original_key": "observation.state", |
| "start": 3, |
| "end": 9, |
| "rotation_type": "rotation_6d", |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "psm1_gripper": { |
| "original_key": "observation.state", |
| "start": 9, |
| "end": 10, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": [ |
| -1.0, |
| 1.0 |
| ] |
| }, |
| "psm2_position": { |
| "original_key": "observation.state", |
| "start": 10, |
| "end": 13, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "psm2_rotation6d": { |
| "original_key": "observation.state", |
| "start": 13, |
| "end": 19, |
| "rotation_type": "rotation_6d", |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "psm2_gripper": { |
| "original_key": "observation.state", |
| "start": 19, |
| "end": 20, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": [ |
| -1.0, |
| 1.0 |
| ] |
| } |
| }, |
| "action": { |
| "psm1_position": { |
| "original_key": "action", |
| "start": 0, |
| "end": 3, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "psm1_rotation6d": { |
| "original_key": "action", |
| "start": 3, |
| "end": 9, |
| "rotation_type": "rotation_6d", |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "psm1_gripper": { |
| "original_key": "action", |
| "start": 9, |
| "end": 10, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": [ |
| -1.0, |
| 1.0 |
| ] |
| }, |
| "psm2_position": { |
| "original_key": "action", |
| "start": 10, |
| "end": 13, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "psm2_rotation6d": { |
| "original_key": "action", |
| "start": 13, |
| "end": 19, |
| "rotation_type": "rotation_6d", |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "psm2_gripper": { |
| "original_key": "action", |
| "start": 19, |
| "end": 20, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": [ |
| -1.0, |
| 1.0 |
| ] |
| } |
| }, |
| "video": { |
| "exterior_image_1_left": { |
| "original_key": "observation.images.exterior_image_1_left" |
| }, |
| "exterior_image_2_left": { |
| "original_key": "observation.images.exterior_image_2_left" |
| }, |
| "wrist_image_left": { |
| "original_key": "observation.images.wrist_image_left" |
| } |
| }, |
| "annotation": { |
| "language.language_instruction": { |
| "original_key": "annotation.language.language_instruction" |
| } |
| } |
| } |
