| { |
| "state": { |
| "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": 28 |
| }, |
| "right_arm": { |
| "start": 28, |
| "end": 35 |
| }, |
| "right_hand": { |
| "start": 35, |
| "end": 42 |
| }, |
| "left_wrist_pos": { |
| "start": 0, |
| "end": 3, |
| "original_key": "observation.eef_state" |
| }, |
| "left_wrist_abs_quat": { |
| "start": 3, |
| "end": 7, |
| "original_key": "observation.eef_state", |
| "rotation_type": "quaternion" |
| }, |
| "right_wrist_pos": { |
| "start": 7, |
| "end": 10, |
| "original_key": "observation.eef_state" |
| }, |
| "right_wrist_abs_quat": { |
| "start": 10, |
| "end": 14, |
| "original_key": "observation.eef_state", |
| "rotation_type": "quaternion" |
| }, |
| "tactile_left": { |
| "start": 0, |
| "end": 6, |
| "original_key": "observation.tactile_left" |
| }, |
| "tactile_right": { |
| "start": 0, |
| "end": 6, |
| "original_key": "observation.tactile_right" |
| } |
| }, |
| "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": 28 |
| }, |
| "right_arm": { |
| "start": 28, |
| "end": 35 |
| }, |
| "right_hand": { |
| "start": 35, |
| "end": 42 |
| }, |
| "left_wrist_pos": { |
| "start": 0, |
| "end": 3, |
| "original_key": "action.eef" |
| }, |
| "left_wrist_abs_quat": { |
| "start": 3, |
| "end": 7, |
| "original_key": "action.eef", |
| "rotation_type": "quaternion" |
| }, |
| "right_wrist_pos": { |
| "start": 7, |
| "end": 10, |
| "original_key": "action.eef" |
| }, |
| "right_wrist_abs_quat": { |
| "start": 10, |
| "end": 14, |
| "original_key": "action.eef", |
| "rotation_type": "quaternion" |
| }, |
| "base_height_command": { |
| "start": 0, |
| "end": 1, |
| "original_key": "teleop.base_height_command" |
| }, |
| "navigate_command": { |
| "start": 0, |
| "end": 3, |
| "original_key": "teleop.navigate_command" |
| } |
| }, |
| "video": { |
| "cam_right_wrist": { |
| "original_key": "observation.images.cam_right_wrist" |
| }, |
| "ego_view": { |
| "original_key": "observation.images.ego_view" |
| } |
| }, |
| "annotation": { |
| "human.task_description": { |
| "original_key": "task_index" |
| } |
| } |
| } |
