Datasets:
| { | |
| "state": { | |
| "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_pos": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "observation.eef_state" | |
| }, | |
| "left_wrist_abs_quat": { | |
| "start": 3, | |
| "end": 7, | |
| "original_key": "observation.eef_state", | |
| "rotation_type": "quaternion" | |
| }, | |
| "right_wrist_pos": { | |
| "start": 7, | |
| "end": 10, | |
| "original_key": "observation.eef_state" | |
| }, | |
| "right_wrist_abs_quat": { | |
| "start": 10, | |
| "end": 14, | |
| "original_key": "observation.eef_state", | |
| "rotation_type": "quaternion" | |
| } | |
| }, | |
| "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_pos": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "action.eef" | |
| }, | |
| "left_wrist_abs_quat": { | |
| "start": 3, | |
| "end": 7, | |
| "original_key": "action.eef", | |
| "rotation_type": "quaternion" | |
| }, | |
| "right_wrist_pos": { | |
| "start": 7, | |
| "end": 10, | |
| "original_key": "action.eef" | |
| }, | |
| "right_wrist_abs_quat": { | |
| "start": 10, | |
| "end": 14, | |
| "original_key": "action.eef", | |
| "rotation_type": "quaternion" | |
| }, | |
| "base_height_command": { | |
| "start": 0, | |
| "end": 1, | |
| "original_key": "teleop.base_height_command" | |
| }, | |
| "navigate_command": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "teleop.navigate_command" | |
| } | |
| }, | |
| "video": { | |
| "ego_view": { | |
| "original_key": "observation.images.ego_view" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |