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