| { | |
| "state": { | |
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| "start": 0, | |
| "end": 6, | |
| "original_key": "observation.state" | |
| }, | |
| "right_leg": { | |
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| "end": 12, | |
| "original_key": "observation.state" | |
| }, | |
| "waist": { | |
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| "end": 15, | |
| "original_key": "observation.state" | |
| }, | |
| "left_arm": { | |
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| "end": 22, | |
| "original_key": "observation.state" | |
| }, | |
| "left_hand": { | |
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| "end": 29, | |
| "original_key": "observation.state" | |
| }, | |
| "right_arm": { | |
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| "end": 36, | |
| "original_key": "observation.state" | |
| }, | |
| "right_hand": { | |
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| "end": 43, | |
| "original_key": "observation.state" | |
| }, | |
| "left_wrist_pose": { | |
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| "end": 7, | |
| "original_key": "observation.eef_pose" | |
| }, | |
| "right_wrist_pose": { | |
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| "end": 14, | |
| "original_key": "observation.eef_pose" | |
| } | |
| }, | |
| "action": { | |
| "left_leg": { | |
| "start": 0, | |
| "end": 6 | |
| }, | |
| "right_leg": { | |
| "start": 6, | |
| "end": 12 | |
| }, | |
| "waist": { | |
| "start": 12, | |
| "end": 15 | |
| }, | |
| "left_arm": { | |
| "start": 15, | |
| "end": 22 | |
| }, | |
| "left_hand": { | |
| "start": 22, | |
| "end": 29 | |
| }, | |
| "right_arm": { | |
| "start": 29, | |
| "end": 36 | |
| }, | |
| "right_hand": { | |
| "start": 36, | |
| "end": 43 | |
| }, | |
| "left_wrist_pose": { | |
| "start": 0, | |
| "end": 7, | |
| "original_key": "action.eef_pose" | |
| }, | |
| "right_wrist_pose": { | |
| "start": 7, | |
| "end": 14, | |
| "original_key": "action.eef_pose" | |
| }, | |
| "base_height_command": { | |
| "start": 0, | |
| "end": 1, | |
| "original_key": "teleop.base_height_command" | |
| }, | |
| "navigate_command": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "teleop.navigate_command" | |
| }, | |
| "torso_orientation_rpy_command": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key":"teleop.torso_orientation_rpy_command" | |
| } | |
| }, | |
| "video": { | |
| "ego_view": { | |
| "original_key": "observation.images.ego_view" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } | |