| { |
| "state": { |
| "robot_a_left_leg": { |
| "start": 0, |
| "end": 6 |
| }, |
| "robot_a_right_leg": { |
| "start": 6, |
| "end": 12 |
| }, |
| "robot_a_waist": { |
| "start": 12, |
| "end": 15 |
| }, |
| "robot_a_left_arm": { |
| "start": 15, |
| "end": 22 |
| }, |
| "robot_a_left_hand": { |
| "start": 22, |
| "end": 29 |
| }, |
| "robot_a_right_arm": { |
| "start": 29, |
| "end": 36 |
| }, |
| "robot_a_right_hand": { |
| "start": 36, |
| "end": 43 |
| }, |
| "robot_a_left_wrist_pos": { |
| "start": 0, |
| "end": 3, |
| "original_key": "observation.eef_state" |
| }, |
| "robot_a_left_wrist_abs_quat": { |
| "start": 3, |
| "end": 7, |
| "original_key": "observation.eef_state", |
| "rotation_type": "quaternion" |
| }, |
| "robot_a_right_wrist_pos": { |
| "start": 7, |
| "end": 10, |
| "original_key": "observation.eef_state" |
| }, |
| "robot_a_right_wrist_abs_quat": { |
| "start": 10, |
| "end": 14, |
| "original_key": "observation.eef_state", |
| "rotation_type": "quaternion" |
| }, |
| "robot_a_root": { |
| "start": 0, |
| "end": 7, |
| "original_key": "observation.robots_state" |
| }, |
| "robot_b_left_leg": { |
| "start": 43, |
| "end": 49 |
| }, |
| "robot_b_right_leg": { |
| "start": 49, |
| "end": 55 |
| }, |
| "robot_b_waist": { |
| "start": 55, |
| "end": 58 |
| }, |
| "robot_b_left_arm": { |
| "start": 58, |
| "end": 65 |
| }, |
| "robot_b_left_hand": { |
| "start": 65, |
| "end": 72 |
| }, |
| "robot_b_right_arm": { |
| "start": 72, |
| "end": 79 |
| }, |
| "robot_b_right_hand": { |
| "start": 79, |
| "end": 86 |
| }, |
| "robot_b_left_wrist_pos": { |
| "start": 14, |
| "end": 17, |
| "original_key": "observation.eef_state" |
| }, |
| "robot_b_left_wrist_abs_quat": { |
| "start": 17, |
| "end": 21, |
| "original_key": "observation.eef_state", |
| "rotation_type": "quaternion" |
| }, |
| "robot_b_right_wrist_pos": { |
| "start": 21, |
| "end": 24, |
| "original_key": "observation.eef_state" |
| }, |
| "robot_b_right_wrist_abs_quat": { |
| "start": 24, |
| "end": 28, |
| "original_key": "observation.eef_state", |
| "rotation_type": "quaternion" |
| }, |
| "robot_b_root": { |
| "start": 7, |
| "end": 14, |
| "original_key": "observation.robots_state" |
| }, |
| "ego_a_camera_pose": { |
| "start": 0, |
| "end": 7, |
| "original_key": "observation.camera_pose" |
| }, |
| "ego_b_camera_pose": { |
| "start": 7, |
| "end": 14, |
| "original_key": "observation.camera_pose" |
| }, |
| "scene_camera_pose": { |
| "start": 14, |
| "end": 21, |
| "original_key": "observation.camera_pose" |
| }, |
| "object": { |
| "start": 0, |
| "end": 7, |
| "original_key": "observation.object_state" |
| }, |
| "grasp_latched": { |
| "start": 0, |
| "end": 4, |
| "original_key": "observation.grasp_latched" |
| }, |
| "robot_a_wrench": { |
| "start": 0, |
| "end": 12, |
| "original_key": "observation.eef_wrench" |
| }, |
| "robot_b_wrench": { |
| "start": 12, |
| "end": 24, |
| "original_key": "observation.eef_wrench" |
| } |
| }, |
| "action": { |
| "robot_a_left_leg": { |
| "start": 0, |
| "end": 6 |
| }, |
| "robot_a_right_leg": { |
| "start": 6, |
| "end": 12 |
| }, |
| "robot_a_waist": { |
| "start": 12, |
| "end": 15 |
| }, |
| "robot_a_left_arm": { |
| "start": 15, |
| "end": 22 |
| }, |
| "robot_a_left_hand": { |
| "start": 22, |
| "end": 29 |
| }, |
| "robot_a_right_arm": { |
| "start": 29, |
| "end": 36 |
| }, |
| "robot_a_right_hand": { |
| "start": 36, |
| "end": 43 |
| }, |
| "robot_a_left_wrist_pos": { |
| "start": 0, |
| "end": 3, |
| "original_key": "action.eef" |
| }, |
| "robot_a_left_wrist_abs_quat": { |
| "start": 3, |
| "end": 7, |
| "original_key": "action.eef", |
| "rotation_type": "quaternion" |
| }, |
| "robot_a_right_wrist_pos": { |
| "start": 7, |
| "end": 10, |
| "original_key": "action.eef" |
| }, |
| "robot_a_right_wrist_abs_quat": { |
| "start": 10, |
| "end": 14, |
| "original_key": "action.eef", |
| "rotation_type": "quaternion" |
| }, |
| "robot_a_navigate_command": { |
| "start": 0, |
| "end": 3, |
| "original_key": "teleop.navigate_command" |
| }, |
| "robot_a_base_height_command": { |
| "start": 0, |
| "end": 1, |
| "original_key": "teleop.base_height_command" |
| }, |
| "robot_b_left_leg": { |
| "start": 43, |
| "end": 49 |
| }, |
| "robot_b_right_leg": { |
| "start": 49, |
| "end": 55 |
| }, |
| "robot_b_waist": { |
| "start": 55, |
| "end": 58 |
| }, |
| "robot_b_left_arm": { |
| "start": 58, |
| "end": 65 |
| }, |
| "robot_b_left_hand": { |
| "start": 65, |
| "end": 72 |
| }, |
| "robot_b_right_arm": { |
| "start": 72, |
| "end": 79 |
| }, |
| "robot_b_right_hand": { |
| "start": 79, |
| "end": 86 |
| }, |
| "robot_b_left_wrist_pos": { |
| "start": 14, |
| "end": 17, |
| "original_key": "action.eef" |
| }, |
| "robot_b_left_wrist_abs_quat": { |
| "start": 17, |
| "end": 21, |
| "original_key": "action.eef", |
| "rotation_type": "quaternion" |
| }, |
| "robot_b_right_wrist_pos": { |
| "start": 21, |
| "end": 24, |
| "original_key": "action.eef" |
| }, |
| "robot_b_right_wrist_abs_quat": { |
| "start": 24, |
| "end": 28, |
| "original_key": "action.eef", |
| "rotation_type": "quaternion" |
| }, |
| "robot_b_navigate_command": { |
| "start": 3, |
| "end": 6, |
| "original_key": "teleop.navigate_command" |
| }, |
| "robot_b_base_height_command": { |
| "start": 1, |
| "end": 2, |
| "original_key": "teleop.base_height_command" |
| } |
| }, |
| "video": { |
| "ego_a": { |
| "original_key": "observation.images.ego_a" |
| }, |
| "ego_b": { |
| "original_key": "observation.images.ego_b" |
| }, |
| "scene": { |
| "original_key": "observation.images.scene" |
| }, |
| "ego_a_depth": { |
| "original_key": "observation.depth.ego_a" |
| }, |
| "ego_b_depth": { |
| "original_key": "observation.depth.ego_b" |
| } |
| }, |
| "annotation": { |
| "human.task_description": { |
| "original_key": "annotation.human.task_description" |
| }, |
| "human.task_description_robot_a": { |
| "original_key": "annotation.human.task_description_robot_a" |
| }, |
| "human.task_description_robot_b": { |
| "original_key": "annotation.human.task_description_robot_b" |
| } |
| } |
| } |
|
|
