| { |
| "action": { |
| "left_hand_joints": { |
| "end": 10, |
| "original_key": "teleop.left_hand_joints", |
| "start": 0 |
| }, |
| "motion_token": { |
| "end": 64, |
| "original_key": "action.motion_token", |
| "start": 0 |
| }, |
| "right_hand_joints": { |
| "end": 10, |
| "original_key": "teleop.right_hand_joints", |
| "start": 0 |
| } |
| }, |
| "annotation": { |
| "human.task_description": { |
| "original_key": "task_index" |
| } |
| }, |
| "state": { |
| "left_arm": { |
| "end": 22, |
| "original_key": "observation.state", |
| "start": 15 |
| }, |
| "left_hand": { |
| "end": 32, |
| "original_key": "observation.state", |
| "start": 22 |
| }, |
| "left_leg": { |
| "end": 6, |
| "original_key": "observation.state", |
| "start": 0 |
| }, |
| "projected_gravity": { |
| "end": 3, |
| "original_key": "observation.projected_gravity", |
| "start": 0 |
| }, |
| "right_arm": { |
| "end": 39, |
| "original_key": "observation.state", |
| "start": 32 |
| }, |
| "right_hand": { |
| "end": 49, |
| "original_key": "observation.state", |
| "start": 39 |
| }, |
| "right_leg": { |
| "end": 12, |
| "original_key": "observation.state", |
| "start": 6 |
| }, |
| "root_orientation": { |
| "end": 4, |
| "original_key": "observation.root_orientation", |
| "rotation_type": "quaternion", |
| "start": 0 |
| }, |
| "waist": { |
| "end": 15, |
| "original_key": "observation.state", |
| "start": 12 |
| } |
| }, |
| "video": { |
| "ego_view": { |
| "original_key": "observation.images.ego_view" |
| }, |
| "ego_view_2": { |
| "original_key": "observation.images.ego_view_2" |
| } |
| } |
| } |
|
|
