|
|
{ |
|
|
"state": { |
|
|
"left_leg": { |
|
|
"start": 0, |
|
|
"end": 6, |
|
|
"original_key": "observation.state" |
|
|
}, |
|
|
"right_leg": { |
|
|
"start": 6, |
|
|
"end": 12, |
|
|
"original_key": "observation.state" |
|
|
}, |
|
|
"waist": { |
|
|
"start": 12, |
|
|
"end": 15, |
|
|
"original_key": "observation.state" |
|
|
}, |
|
|
"left_arm": { |
|
|
"start": 15, |
|
|
"end": 22, |
|
|
"original_key": "observation.state" |
|
|
}, |
|
|
"left_hand": { |
|
|
"start": 22, |
|
|
"end": 29, |
|
|
"original_key": "observation.state" |
|
|
}, |
|
|
"right_arm": { |
|
|
"start": 29, |
|
|
"end": 36, |
|
|
"original_key": "observation.state" |
|
|
}, |
|
|
"right_hand": { |
|
|
"start": 36, |
|
|
"end": 43, |
|
|
"original_key": "observation.state" |
|
|
}, |
|
|
"left_wrist_pose": { |
|
|
"start": 0, |
|
|
"end": 7, |
|
|
"original_key": "observation.eef_pose" |
|
|
}, |
|
|
"right_wrist_pose": { |
|
|
"start": 7, |
|
|
"end": 14, |
|
|
"original_key": "observation.eef_pose" |
|
|
} |
|
|
}, |
|
|
"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": 29 |
|
|
}, |
|
|
"right_arm": { |
|
|
"start": 29, |
|
|
"end": 36 |
|
|
}, |
|
|
"right_hand": { |
|
|
"start": 36, |
|
|
"end": 43 |
|
|
}, |
|
|
"left_wrist_pose": { |
|
|
"start": 0, |
|
|
"end": 7, |
|
|
"original_key": "action.eef_pose" |
|
|
}, |
|
|
"right_wrist_pose": { |
|
|
"start": 7, |
|
|
"end": 14, |
|
|
"original_key": "action.eef_pose" |
|
|
}, |
|
|
"base_height_command": { |
|
|
"start": 0, |
|
|
"end": 1, |
|
|
"original_key": "teleop.base_height_command" |
|
|
}, |
|
|
"navigate_command": { |
|
|
"start": 0, |
|
|
"end": 3, |
|
|
"original_key": "teleop.navigate_command" |
|
|
}, |
|
|
"torso_orientation_rpy_command": { |
|
|
"start": 0, |
|
|
"end": 3, |
|
|
"original_key":"teleop.torso_orientation_rpy_command" |
|
|
} |
|
|
}, |
|
|
"video": { |
|
|
"ego_view": { |
|
|
"original_key": "observation.images.ego_view" |
|
|
} |
|
|
}, |
|
|
"annotation": { |
|
|
"human.task_description": { |
|
|
"original_key": "task_index" |
|
|
} |
|
|
} |
|
|
} |
|
|
|
