File size: 7,624 Bytes
06ebbaf | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 | {
"state": {
"cartesian_position_xyz_left": {
"start": 0,
"end": 3,
"original_key": "robot0.observation.state.cartesian_position"
},
"cartesian_position_rot_left": {
"start": 3,
"end": 6,
"rotation_type": "euler_angles_rpy",
"original_key": "robot0.observation.state.cartesian_position"
},
"gripper_position_left": {
"start": 0,
"end": 1,
"original_key": "robot0.observation.state.gripper_position"
},
"cartesian_position_xyz_right": {
"start": 0,
"end": 3,
"original_key": "robot1.observation.state.cartesian_position"
},
"cartesian_position_rot_right": {
"start": 3,
"end": 6,
"rotation_type": "euler_angles_rpy",
"original_key": "robot1.observation.state.cartesian_position"
},
"gripper_position_right": {
"start": 0,
"end": 1,
"original_key": "robot1.observation.state.gripper_position"
},
"delta_action_eef_right": {
"start": 0,
"end": 7,
"original_key": "robot1.action.delta_action"
},
"delta_action_eef_left": {
"start": 0,
"end": 7,
"original_key": "robot0.action.delta_action"
},
"target_cartesian_position_left": {
"start": 0,
"end": 6,
"original_key": "robot0.action.target_cartesian_position"
},
"target_gripper_position_left": {
"start": 0,
"end": 1,
"original_key": "robot0.action.target_gripper_position"
},
"target_cartesian_position_right": {
"start": 0,
"end": 6,
"original_key": "robot1.action.target_cartesian_position"
},
"target_gripper_position_right": {
"start": 0,
"end": 1,
"original_key": "robot1.action.target_gripper_position"
}
},
"action": {
"cartesian_position_delta_left": {
"start": 0,
"end": 6,
"absolute": false,
"original_key": "robot0.action.cartesian_position_delta"
},
"gripper_position_delta_left": {
"start": 0,
"end": 1,
"absolute": false,
"original_key": "robot0.action.gripper_position_delta"
},
"delta_action_eef_left": {
"start": 0,
"end": 6,
"original_key": "robot0.action.delta_action"
},
"delta_action_gripper_left": {
"start": 6,
"end": 7,
"original_key": "robot0.action.delta_action"
},
"gripper_velocity_left": {
"start": 0,
"end": 1,
"original_key": "robot0.action.gripper_velocity"
},
"gripper_velocity_delta_left": {
"start": 0,
"end": 1,
"absolute": false,
"original_key": "robot0.action.gripper_velocity_delta"
},
"delta_action_delta_left": {
"start": 0,
"end": 7,
"absolute": false,
"original_key": "robot0.action.delta_action_delta"
},
"cartesian_velocity_left": {
"start": 0,
"end": 6,
"original_key": "robot0.action.cartesian_velocity"
},
"cartesian_velocity_delta_left": {
"start": 0,
"end": 6,
"absolute": false,
"original_key": "robot0.action.cartesian_velocity_delta"
},
"target_cartesian_position_left": {
"start": 0,
"end": 6,
"original_key": "robot0.action.target_cartesian_position"
},
"target_cartesian_position_delta_left": {
"start": 0,
"end": 6,
"absolute": false,
"original_key": "robot0.action.target_cartesian_position_delta"
},
"target_gripper_position_left": {
"start": 0,
"end": 1,
"original_key": "robot0.action.target_gripper_position"
},
"target_gripper_position_delta_left": {
"start": 0,
"end": 1,
"absolute": false,
"original_key": "robot0.action.target_gripper_position_delta"
},
"gripper_velocity_right": {
"start": 0,
"end": 1,
"original_key": "robot1.action.gripper_velocity"
},
"gripper_velocity_delta_right": {
"start": 0,
"end": 1,
"absolute": false,
"original_key": "robot1.action.gripper_velocity_delta"
},
"cartesian_position_delta_right": {
"start": 0,
"end": 6,
"absolute": false,
"original_key": "robot1.action.cartesian_position_delta"
},
"gripper_position_delta_right": {
"start": 0,
"end": 1,
"absolute": false,
"original_key": "robot1.action.gripper_position_delta"
},
"delta_action_eef_right": {
"start": 0,
"end": 6,
"original_key": "robot1.action.delta_action"
},
"delta_action_gripper_right": {
"start": 6,
"end": 7,
"original_key": "robot1.action.delta_action"
},
"delta_action_delta_right": {
"start": 0,
"end": 7,
"absolute": false,
"original_key": "robot1.action.delta_action_delta"
},
"cartesian_velocity_right": {
"start": 0,
"end": 6,
"original_key": "robot1.action.cartesian_velocity"
},
"cartesian_velocity_delta_right": {
"start": 0,
"end": 6,
"absolute": false,
"original_key": "robot1.action.cartesian_velocity_delta"
},
"target_cartesian_position_right": {
"start": 0,
"end": 6,
"original_key": "robot1.action.target_cartesian_position"
},
"target_cartesian_position_delta_right": {
"start": 0,
"end": 6,
"absolute": false,
"original_key": "robot1.action.target_cartesian_position_delta"
},
"target_gripper_position_right": {
"start": 0,
"end": 1,
"original_key": "robot1.action.target_gripper_position"
},
"target_gripper_position_delta_right": {
"start": 0,
"end": 1,
"absolute": false,
"original_key": "robot1.action.target_gripper_position_delta"
}
},
"video": {
"right_wrist_view": {
"original_key": "observation.images.right_wrist_view"
},
"left_wrist_view": {
"original_key": "observation.images.left_wrist_view"
},
"front_view": {
"original_key": "observation.images.front_view"
},
"video_history_1": {
"original_key": "observation.images.video_history_1"
},
"video_history_2": {
"original_key": "observation.images.video_history_2"
},
"video_history_3": {
"original_key": "observation.images.video_history_3"
}
},
"annotation": {
"human.action.task_description": {
"original_key": "task_index"
}
}
} |