| { | |
| "state": { | |
| "left_arm": { | |
| "start": 0, | |
| "end": 5, | |
| "original_key": "observation.state" | |
| }, | |
| "gripper1": { | |
| "start": 5, | |
| "end": 6, | |
| "original_key": "observation.state" | |
| }, | |
| "right_arm": { | |
| "start": 6, | |
| "end": 11, | |
| "original_key": "observation.state" | |
| }, | |
| "gripper2": { | |
| "start": 11, | |
| "end": 12, | |
| "original_key": "observation.state" | |
| } | |
| }, | |
| "action": { | |
| "left_arm": { | |
| "start": 0, | |
| "end": 5, | |
| "original_key": "action" | |
| }, | |
| "gripper1": { | |
| "start": 5, | |
| "end": 6, | |
| "original_key": "action" | |
| }, | |
| "right_arm": { | |
| "start": 6, | |
| "end": 11, | |
| "original_key": "action" | |
| }, | |
| "gripper2": { | |
| "start": 11, | |
| "end": 12, | |
| "original_key": "action" | |
| } | |
| }, | |
| "video": { | |
| "right": { | |
| "original_key": "observation.images.right" | |
| }, | |
| "left": { | |
| "original_key": "observation.images.left" | |
| }, | |
| "top_depth": { | |
| "original_key": "observation.images.top_depth" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |