| { |
| "state": { |
| "left_arm": { |
| "original_key": "observation.state", |
| "start": 0, |
| "end": 6 |
| }, |
| "left_arm.velocities": { |
| "original_key": "observation.state", |
| "start": 6, |
| "end": 12 |
| }, |
| "right_arm": { |
| "original_key": "observation.state", |
| "start": 12, |
| "end": 18 |
| }, |
| "right_arm.velocities": { |
| "original_key": "observation.state", |
| "start": 18, |
| "end": 24 |
| }, |
| "chassis.imu": { |
| "original_key": "observation.state", |
| "start": 24, |
| "end": 34 |
| }, |
| "chassis": { |
| "original_key": "observation.state", |
| "start": 34, |
| "end": 37 |
| }, |
| "chassis.velocities": { |
| "original_key": "observation.state", |
| "start": 37, |
| "end": 40 |
| }, |
| "torso": { |
| "original_key": "observation.state", |
| "start": 40, |
| "end": 44 |
| }, |
| "torso.velocities": { |
| "original_key": "observation.state", |
| "start": 44, |
| "end": 48 |
| }, |
| "left_gripper": { |
| "original_key": "observation.state", |
| "start": 48, |
| "end": 49 |
| }, |
| "right_gripper": { |
| "original_key": "observation.state", |
| "start": 49, |
| "end": 50 |
| }, |
| "left_ee_pose": { |
| "original_key": "observation.state", |
| "start": 50, |
| "end": 57 |
| }, |
| "right_ee_pose": { |
| "original_key": "observation.state", |
| "start": 57, |
| "end": 64 |
| } |
| }, |
| "action": { |
| "left_gripper": { |
| "original_key": "action", |
| "start": 0, |
| "end": 1 |
| }, |
| "right_gripper": { |
| "original_key": "action", |
| "start": 1, |
| "end": 2 |
| }, |
| "chassis.velocities": { |
| "original_key": "action", |
| "start": 2, |
| "end": 8 |
| }, |
| "torso.velocities": { |
| "original_key": "action", |
| "start": 8, |
| "end": 14 |
| }, |
| "left_arm": { |
| "original_key": "action", |
| "start": 14, |
| "end": 20 |
| }, |
| "right_arm": { |
| "original_key": "action", |
| "start": 20, |
| "end": 26 |
| } |
| }, |
| "video": { |
| "observation.images.head_rgb": { |
| "original_key": "observation.images.head_rgb" |
| }, |
| "observation.images.head_right_rgb": { |
| "original_key": "observation.images.head_right_rgb" |
| }, |
| "observation.images.left_wrist_rgb": { |
| "original_key": "observation.images.left_wrist_rgb" |
| }, |
| "observation.images.right_wrist_rgb": { |
| "original_key": "observation.images.right_wrist_rgb" |
| } |
| }, |
| "annotation": { |
| "human.task_description": { |
| "original_key": "task_index" |
| } |
| } |
| } |
