{ "state": { "base_position": { "original_key": "observation.state", "start": 0, "end": 3 }, "base_rotation": { "original_key": "observation.state", "start": 3, "end": 7 }, "end_effector_position_relative": { "original_key": "observation.state", "start": 7, "end": 10 }, "end_effector_rotation_relative": { "original_key": "observation.state", "start": 10, "end": 14 }, "gripper_qpos": { "original_key": "observation.state", "start": 14, "end": 16 } }, "action": { "base_motion": { "original_key": "action", "start": 0, "end": 4 }, "control_mode": { "original_key": "action", "start": 4, "end": 5 }, "end_effector_position": { "original_key": "action", "start": 5, "end": 8 }, "end_effector_rotation": { "original_key": "action", "start": 8, "end": 11 }, "gripper_close": { "original_key": "action", "start": 11, "end": 12 } }, "video": { "robot0_eye_in_hand": { "original_key": "observation.images.robot0_eye_in_hand" }, "robot0_agentview_left": { "original_key": "observation.images.robot0_agentview_left" }, "robot0_agentview_right": { "original_key": "observation.images.robot0_agentview_right" } }, "annotation": { "human.task_description": { "original_key": "annotation.human.task_description" } } }