| { | |
| "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" | |
| } | |
| } | |
| } |