| { | |
| "state": { | |
| "left_arm_joint_position": { | |
| "start": 54, | |
| "end": 61 | |
| }, | |
| "right_arm_joint_position": { | |
| "start": 61, | |
| "end": 68 | |
| }, | |
| "left_effector_position": { | |
| "start": 0, | |
| "end": 1 | |
| }, | |
| "right_effector_position": { | |
| "start": 1, | |
| "end": 2 | |
| }, | |
| "waist_position": { | |
| "start": 117, | |
| "end": 118 | |
| } | |
| }, | |
| "action": { | |
| "left_arm_joint_position": { | |
| "start": 16, | |
| "end": 23 | |
| }, | |
| "right_arm_joint_position": { | |
| "start": 23, | |
| "end": 30 | |
| }, | |
| "left_effector_position": { | |
| "start": 0, | |
| "end": 1 | |
| }, | |
| "right_effector_position": { | |
| "start": 1, | |
| "end": 2 | |
| }, | |
| "waist_position": { | |
| "start": 37, | |
| "end": 38 | |
| } | |
| }, | |
| "video": { | |
| "top_head": { | |
| "original_key": "observation.images.top_head" | |
| }, | |
| "hand_left": { | |
| "original_key": "observation.images.hand_left" | |
| }, | |
| "hand_right": { | |
| "original_key": "observation.images.hand_right" | |
| } | |
| }, | |
| "annotation": { | |
| "language.action_text": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |