| { |
| "state": { |
| "joint_qpos": { |
| "original_key": "observation.state", |
| "start": 0, |
| "end": 28, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "joint_qpos_sin": { |
| "original_key": "observation.state", |
| "start": 28, |
| "end": 56, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "joint_qpos_cos": { |
| "original_key": "observation.state", |
| "start": 56, |
| "end": 84, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "joint_qvel": { |
| "original_key": "observation.state", |
| "start": 84, |
| "end": 112, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "joint_qeffort": { |
| "original_key": "observation.state", |
| "start": 112, |
| "end": 140, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "robot_pos": { |
| "original_key": "observation.state", |
| "start": 140, |
| "end": 143, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "robot_ori_cos": { |
| "original_key": "observation.state", |
| "start": 143, |
| "end": 146, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "robot_ori_sin": { |
| "original_key": "observation.state", |
| "start": 146, |
| "end": 149, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "robot_2d_ori": { |
| "original_key": "observation.state", |
| "start": 149, |
| "end": 150, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "robot_2d_ori_cos": { |
| "original_key": "observation.state", |
| "start": 150, |
| "end": 151, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "robot_2d_ori_sin": { |
| "original_key": "observation.state", |
| "start": 151, |
| "end": 152, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "robot_lin_vel": { |
| "original_key": "observation.state", |
| "start": 152, |
| "end": 155, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "robot_ang_vel": { |
| "original_key": "observation.state", |
| "start": 155, |
| "end": 158, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "arm_left_qpos": { |
| "original_key": "observation.state", |
| "start": 158, |
| "end": 165, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "arm_left_qpos_sin": { |
| "original_key": "observation.state", |
| "start": 165, |
| "end": 172, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "arm_left_qpos_cos": { |
| "original_key": "observation.state", |
| "start": 172, |
| "end": 179, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "arm_left_qvel": { |
| "original_key": "observation.state", |
| "start": 179, |
| "end": 186, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "eef_left_pos": { |
| "original_key": "observation.state", |
| "start": 186, |
| "end": 189, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "eef_left_quat": { |
| "original_key": "observation.state", |
| "start": 189, |
| "end": 193, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "gripper_left_qpos": { |
| "original_key": "observation.state", |
| "start": 193, |
| "end": 195, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "gripper_left_qvel": { |
| "original_key": "observation.state", |
| "start": 195, |
| "end": 197, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "arm_right_qpos": { |
| "original_key": "observation.state", |
| "start": 197, |
| "end": 204, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "arm_right_qpos_sin": { |
| "original_key": "observation.state", |
| "start": 204, |
| "end": 211, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "arm_right_qpos_cos": { |
| "original_key": "observation.state", |
| "start": 211, |
| "end": 218, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "arm_right_qvel": { |
| "original_key": "observation.state", |
| "start": 218, |
| "end": 225, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "eef_right_pos": { |
| "original_key": "observation.state", |
| "start": 225, |
| "end": 228, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "eef_right_quat": { |
| "original_key": "observation.state", |
| "start": 228, |
| "end": 232, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "gripper_right_qpos": { |
| "original_key": "observation.state", |
| "start": 232, |
| "end": 234, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "gripper_right_qvel": { |
| "original_key": "observation.state", |
| "start": 234, |
| "end": 236, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "trunk_qpos": { |
| "original_key": "observation.state", |
| "start": 236, |
| "end": 240, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "trunk_qvel": { |
| "original_key": "observation.state", |
| "start": 240, |
| "end": 244, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "base_qpos": { |
| "original_key": "observation.state", |
| "start": 244, |
| "end": 247, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "base_qpos_sin": { |
| "original_key": "observation.state", |
| "start": 247, |
| "end": 250, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "base_qpos_cos": { |
| "original_key": "observation.state", |
| "start": 250, |
| "end": 253, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "base_qvel": { |
| "original_key": "observation.state", |
| "start": 253, |
| "end": 256, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| } |
| }, |
| "action": { |
| "base": { |
| "original_key": "action", |
| "start": 0, |
| "end": 3, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "torso": { |
| "original_key": "action", |
| "start": 3, |
| "end": 7, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "left_arm": { |
| "original_key": "action", |
| "start": 7, |
| "end": 14, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "left_gripper": { |
| "original_key": "action", |
| "start": 14, |
| "end": 15, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "right_arm": { |
| "original_key": "action", |
| "start": 15, |
| "end": 22, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "right_gripper": { |
| "original_key": "action", |
| "start": 22, |
| "end": 23, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| } |
| }, |
| "video": { |
| "observation.images.rgb.left_wrist_256_256": { |
| "original_key": "observation.images.observation.images.rgb.left_wrist_256_256" |
| }, |
| "observation.images.rgb.right_wrist_256_256": { |
| "original_key": "observation.images.observation.images.rgb.right_wrist_256_256" |
| }, |
| "observation.images.rgb.head_256_256": { |
| "original_key": "observation.images.observation.images.rgb.head_256_256" |
| } |
| }, |
| "annotation": { |
| "human.coarse_action": { |
| "original_key": "annotation.human.coarse_action" |
| } |
| } |
| } |