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memorybench-lerobot

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memorybench-lerobot
File size: 1,031 Bytes
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{
  "state": {
    "eef_pos": {
      "start": 0,
      "end": 3
    },
    "eef_quat": {
      "start": 3,
      "end": 7
    },
    "arm_qpos": {
      "start": 7,
      "end": 14
    },
    "gripper_qpos": {
      "start": 14,
      "end": 16
    },
    "arm_qvel": {
      "start": 16,
      "end": 23
    },
    "gripper_open": {
      "start": 23,
      "end": 24
    }
  },
  "action": {
    "arm_action": {
      "start": 0,
      "end": 7
    },
    "gripper_action": {
      "start": 7,
      "end": 8
    }
  },
  "video": {
    "front": {
      "original_key": "observation.images.front"
    },
    "left_shoulder": {
      "original_key": "observation.images.left_shoulder"
    },
    "right_shoulder": {
      "original_key": "observation.images.right_shoulder"
    },
    "overhead": {
      "original_key": "observation.images.overhead"
    },
    "wrist": {
      "original_key": "observation.images.wrist"
    }
  },
  "annotation": {
    "human.task_description": {
      "original_key": "task_index"
    }
  }
}