| { | |
| "state": { | |
| "joints": { | |
| "start": 0, | |
| "end": 7, | |
| "original_key": "observation.state", | |
| "absolute": true, | |
| "dtype": "float32" | |
| }, | |
| "gripper_open_fraction": { | |
| "start": 7, | |
| "end": 8, | |
| "original_key": "observation.state", | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": [ | |
| 0.0, | |
| 1.0 | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "delta_joints": { | |
| "start": 0, | |
| "end": 7, | |
| "original_key": "action", | |
| "absolute": true, | |
| "dtype": "float32" | |
| }, | |
| "gripper_open_fraction": { | |
| "start": 7, | |
| "end": 8, | |
| "original_key": "action", | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": [ | |
| 0.0, | |
| 1.0 | |
| ] | |
| } | |
| }, | |
| "video": { | |
| "base_view": { | |
| "original_key": "observation.images.base_view" | |
| }, | |
| "ego_view": { | |
| "original_key": "observation.images.ego_view" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } | |