| { | |
| "action": { | |
| "eef_pos": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "action", | |
| "absolute": false | |
| }, | |
| "eef_rot6d": { | |
| "start": 3, | |
| "end": 9, | |
| "original_key": "action", | |
| "rotation_type": "rotation_6d", | |
| "absolute": false | |
| }, | |
| "gripper": { | |
| "start": 9, | |
| "end": 10, | |
| "original_key": "action", | |
| "absolute": false | |
| } | |
| }, | |
| "state": { | |
| "eef_pos": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "observation.state" | |
| }, | |
| "eef_rot6d": { | |
| "start": 3, | |
| "end": 9, | |
| "original_key": "observation.state", | |
| "rotation_type": "rotation_6d" | |
| }, | |
| "gripper": { | |
| "start": 9, | |
| "end": 10, | |
| "original_key": "observation.state" | |
| } | |
| }, | |
| "video": { | |
| "wrist": { | |
| "original_key": "observation.images.wrist" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |