| { |
| "action": { |
| "left_eef_position": { |
| "start": 0, |
| "end": 3, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "action" |
| }, |
| "left_eef_orientation_quat": { |
| "start": 3, |
| "end": 7, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "action", |
| "rotation_type": "quaternion" |
| }, |
| "left_gripper": { |
| "start": 7, |
| "end": 8, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "action" |
| }, |
| "right_eef_position": { |
| "start": 8, |
| "end": 11, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "action" |
| }, |
| "right_eef_orientation_quat": { |
| "start": 11, |
| "end": 15, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "action", |
| "rotation_type": "quaternion" |
| }, |
| "right_gripper": { |
| "start": 15, |
| "end": 16, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "action" |
| } |
| }, |
| "state": { |
| "left_eef_position": { |
| "start": 0, |
| "end": 3, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "observation.state" |
| }, |
| "left_eef_orientation_quat": { |
| "start": 3, |
| "end": 7, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "observation.state", |
| "rotation_type": "quaternion" |
| }, |
| "left_gripper": { |
| "start": 7, |
| "end": 8, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "observation.state" |
| }, |
| "right_eef_position": { |
| "start": 8, |
| "end": 11, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "observation.state" |
| }, |
| "right_eef_orientation_quat": { |
| "start": 11, |
| "end": 15, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "observation.state", |
| "rotation_type": "quaternion" |
| }, |
| "right_gripper": { |
| "start": 15, |
| "end": 16, |
| "dtype": "float32", |
| "absolute": true, |
| "original_key": "observation.state" |
| } |
| }, |
| "video": { |
| "cam_high": { |
| "original_key": "observation.images.cam_high" |
| }, |
| "cam_left_wrist": { |
| "original_key": "observation.images.cam_left_wrist" |
| }, |
| "cam_right_wrist": { |
| "original_key": "observation.images.cam_right_wrist" |
| } |
| }, |
| "annotation": { |
| "human.action.task_description": { |
| "original_key": "task_index" |
| } |
| } |
| } |
|
|
