| { |
| "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": {} |
| } |
| } |
