| { | |
| "state": { | |
| "eef_position": { | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "eef_orientation": { | |
| "start": 3, | |
| "end": 9, | |
| "rotation_type": "rotation_6d" | |
| }, | |
| "gripper_state": { | |
| "start": 9, | |
| "end": 10 | |
| } | |
| }, | |
| "action": { | |
| "eef_delta_position": { | |
| "start": 0, | |
| "end": 3, | |
| "absolute": false | |
| }, | |
| "eef_delta_orientation": { | |
| "start": 3, | |
| "end": 9, | |
| "rotation_type": "rotation_6d" | |
| }, | |
| "gripper_command": { | |
| "start": 9, | |
| "end": 10, | |
| "dtype": "int64", | |
| "range": [0, 1] | |
| } | |
| }, | |
| "video": { | |
| "exterior_image_1_left": {}, | |
| "wrist_image_left": {} | |
| }, | |
| "annotation": { | |
| "human.action.task_description": {} | |
| } | |
| } |