| { | |
| "state": { | |
| "cartesian_position": { | |
| "start": 0, | |
| "end": 6 | |
| }, | |
| "gripper_position": { | |
| "start": 6, | |
| "end": 7 | |
| }, | |
| "joint_position": { | |
| "start": 7, | |
| "end": 14 | |
| } | |
| }, | |
| "action": { | |
| "cartesian_position": { | |
| "start": 0, | |
| "end": 6 | |
| }, | |
| "cartesian_velocity": { | |
| "start": 6, | |
| "end": 12 | |
| }, | |
| "gripper_position": { | |
| "start": 12, | |
| "end": 13 | |
| }, | |
| "gripper_velocity": { | |
| "start": 13, | |
| "end": 14 | |
| }, | |
| "joint_position": { | |
| "start": 14, | |
| "end": 21 | |
| }, | |
| "joint_velocity": { | |
| "start": 21, | |
| "end": 28 | |
| } | |
| }, | |
| "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": {}, | |
| "language.language_instruction_2": {}, | |
| "language.language_instruction_3": {} | |
| } | |
| } |