| { | |
| "state": { | |
| "left_arm_pose": { | |
| "start": 0, | |
| "end": 7, | |
| "original_key": "observation.state.left_arm_cartesian" | |
| }, | |
| "left_arm_gripper": { | |
| "start": 7, | |
| "end": 8, | |
| "original_key": "observation.state.left_arm_cartesian" | |
| }, | |
| "right_arm_pose": { | |
| "start": 0, | |
| "end": 7, | |
| "original_key": "observation.state.right_arm_cartesian" | |
| }, | |
| "right_arm_gripper": { | |
| "start": 7, | |
| "end": 8, | |
| "original_key": "observation.state.right_arm_cartesian" | |
| } | |
| }, | |
| "action": { | |
| "left_arm_pose": { | |
| "start": 0, | |
| "end": 7, | |
| "original_key": "action.cartesian_absolute" | |
| }, | |
| "left_arm_gripper": { | |
| "start": 7, | |
| "end": 8, | |
| "original_key": "action.cartesian_absolute" | |
| }, | |
| "right_arm_pose": { | |
| "start": 8, | |
| "end": 15, | |
| "original_key": "action.cartesian_absolute" | |
| }, | |
| "right_arm_gripper": { | |
| "start": 15, | |
| "end": 16, | |
| "original_key": "action.cartesian_absolute" | |
| } | |
| }, | |
| "video": { | |
| "endoscope": { | |
| "original_key": "observation.images.color" | |
| }, | |
| "wrist_left": { | |
| "original_key": "observation.images.wrist_left" | |
| }, | |
| "wrist_right": { | |
| "original_key": "observation.images.wrist_right" | |
| } | |
| }, | |
| "annotation": { | |
| "task": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } | |