| { |
| "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" |
| }, |
| "root_orientation": { |
| "start": 0, |
| "end": 4, |
| "original_key": "observation.root_orientation", |
| "rotation_type": "quaternion" |
| }, |
| "projected_gravity": { |
| "start": 0, |
| "end": 3, |
| "original_key": "observation.projected_gravity" |
| }, |
| "cpp_rotation_offset": { |
| "start": 0, |
| "end": 4, |
| "original_key": "observation.cpp_rotation_offset", |
| "rotation_type": "quaternion" |
| }, |
| "init_base_quat": { |
| "start": 0, |
| "end": 4, |
| "original_key": "observation.init_base_quat", |
| "rotation_type": "quaternion" |
| } |
| }, |
| "action": { |
| "delta_heading": { |
| "start": 0, |
| "end": 1, |
| "original_key": "teleop.delta_heading" |
| }, |
| "motion_token": { |
| "start": 0, |
| "end": 64, |
| "original_key": "action.motion_token" |
| }, |
| "smpl_joints": { |
| "start": 0, |
| "end": 72, |
| "original_key": "teleop.smpl_joints" |
| }, |
| "smpl_pose": { |
| "start": 0, |
| "end": 63, |
| "original_key": "teleop.smpl_pose" |
| }, |
| "body_quat_w": { |
| "start": 0, |
| "end": 4, |
| "original_key": "teleop.body_quat_w", |
| "rotation_type": "quaternion" |
| }, |
| "target_body_orientation": { |
| "start": 0, |
| "end": 6, |
| "original_key": "teleop.target_body_orientation", |
| "rotation_type": "rotation_6d" |
| }, |
| "left_hand_joints": { |
| "start": 0, |
| "end": 7, |
| "original_key": "teleop.left_hand_joints" |
| }, |
| "right_hand_joints": { |
| "start": 0, |
| "end": 7, |
| "original_key": "teleop.right_hand_joints" |
| }, |
| "left_wrist_joints": { |
| "start": 0, |
| "end": 3, |
| "original_key": "teleop.left_wrist_joints" |
| }, |
| "right_wrist_joints": { |
| "start": 0, |
| "end": 3, |
| "original_key": "teleop.right_wrist_joints" |
| }, |
| "stream_mode": { |
| "start": 0, |
| "end": 1, |
| "original_key": "teleop.stream_mode" |
| }, |
| "planner_mode": { |
| "start": 0, |
| "end": 1, |
| "original_key": "teleop.planner_mode" |
| }, |
| "planner_movement": { |
| "start": 0, |
| "end": 3, |
| "original_key": "teleop.planner_movement" |
| }, |
| "planner_facing": { |
| "start": 0, |
| "end": 3, |
| "original_key": "teleop.planner_facing" |
| }, |
| "planner_speed": { |
| "start": 0, |
| "end": 1, |
| "original_key": "teleop.planner_speed" |
| }, |
| "planner_height": { |
| "start": 0, |
| "end": 1, |
| "original_key": "teleop.planner_height" |
| }, |
| "vr_3pt_position": { |
| "start": 0, |
| "end": 9, |
| "original_key": "teleop.vr_3pt_position" |
| }, |
| "vr_3pt_orientation": { |
| "start": 0, |
| "end": 18, |
| "original_key": "teleop.vr_3pt_orientation", |
| "rotation_type": "rotation_6d" |
| } |
| }, |
| "video": { |
| "ego_view": { |
| "original_key": "observation.images.ego_view" |
| } |
| }, |
| "annotation": { |
| "human.task_description": { |
| "original_key": "task_index" |
| } |
| } |
| } |
