| { | |
| "state": { | |
| "joint_pos": { | |
| "original_key": "observation.state", | |
| "start": 0, | |
| "end": 4, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| }, | |
| "gripper_pos": { | |
| "original_key": "observation.state", | |
| "start": 4, | |
| "end": 5, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| }, | |
| "wrist_roll": { | |
| "original_key": "observation.state", | |
| "start": 5, | |
| "end": 6, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| } | |
| }, | |
| "action": { | |
| "joint_pos": { | |
| "original_key": "action", | |
| "start": 0, | |
| "end": 4, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| }, | |
| "gripper_pos": { | |
| "original_key": "action", | |
| "start": 4, | |
| "end": 5, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| }, | |
| "wrist_roll": { | |
| "original_key": "action", | |
| "start": 5, | |
| "end": 6, | |
| "rotation_type": null, | |
| "absolute": true, | |
| "dtype": "float32", | |
| "range": null | |
| } | |
| }, | |
| "video": { | |
| "camera1": { | |
| "original_key": "observation.images.camera1" | |
| }, | |
| "camera2": { | |
| "original_key": "observation.images.camera2" | |
| } | |
| }, | |
| "annotation": { | |
| "task": { | |
| "original_key": "task" | |
| } | |
| } | |
| } |