| { |
| "state": { |
| "robot0_joint_pos": { |
| "start": 0, |
| "end": 7 |
| }, |
| "robot0_joint_pos_cos": { |
| "start": 7, |
| "end": 14 |
| }, |
| "robot0_joint_pos_sin": { |
| "start": 14, |
| "end": 21 |
| }, |
| "robot0_joint_vel": { |
| "start": 21, |
| "end": 28 |
| }, |
| "robot0_eef_pos": { |
| "start": 28, |
| "end": 31 |
| }, |
| "robot0_eef_quat": { |
| "start": 31, |
| "end": 35, |
| "rotation_type": "quaternion" |
| }, |
| "robot0_gripper_qpos": { |
| "start": 35, |
| "end": 37 |
| }, |
| "robot0_gripper_qvel": { |
| "start": 37, |
| "end": 39 |
| }, |
| "robot0_base_pos": { |
| "start": 39, |
| "end": 42 |
| }, |
| "robot0_base_quat": { |
| "start": 42, |
| "end": 46, |
| "rotation_type": "quaternion" |
| }, |
| "robot0_base_to_eef_pos": { |
| "start": 46, |
| "end": 49 |
| }, |
| "robot0_base_to_eef_quat": { |
| "start": 49, |
| "end": 53, |
| "rotation_type": "quaternion" |
| } |
| }, |
| "action": { |
| "right_arm_position": { |
| "start": 0, |
| "end": 3, |
| "absolute": false |
| }, |
| "right_arm_rotation": { |
| "start": 3, |
| "end": 6, |
| "rotation_type": "axis_angle", |
| "absolute": false |
| }, |
| "right_gripper": { |
| "start": 6, |
| "end": 7, |
| "absolute": false |
| }, |
| "mobile_base_movement": { |
| "start": 7, |
| "end": 10, |
| "absolute": false |
| }, |
| "torso_control": { |
| "start": 10, |
| "end": 11, |
| "absolute": false |
| }, |
| "base_mode_switch": { |
| "start": 11, |
| "end": 12, |
| "absolute": false |
| } |
| }, |
| "video": { |
| "ego_view": { |
| "original_key": "robot0_agentview_left_image" |
| }, |
| "ego_view_right": { |
| "original_key": "robot0_agentview_right_image" |
| }, |
| "hand_view": { |
| "original_key": "robot0_eye_in_hand_image" |
| } |
| }, |
| "annotation": { |
| "human.action.task_description": {}, |
| "human.validity": {} |
| } |
| } |
