| { |
| "state": { |
| "left_arm_joint_position": { |
| "original_key": "observation.state", |
| "start": 0, |
| "end": 7, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "right_arm_joint_position": { |
| "original_key": "observation.state", |
| "start": 7, |
| "end": 14, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "left_effector_position": { |
| "original_key": "observation.state", |
| "start": 14, |
| "end": 15, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "right_effector_position": { |
| "original_key": "observation.state", |
| "start": 15, |
| "end": 16, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "head_position": { |
| "original_key": "observation.state", |
| "start": 16, |
| "end": 18, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "waist_pitch": { |
| "original_key": "observation.state", |
| "start": 18, |
| "end": 19, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "waist_lift": { |
| "original_key": "observation.state", |
| "start": 19, |
| "end": 20, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| } |
| }, |
| "action": { |
| "left_arm_joint_position": { |
| "original_key": "action", |
| "start": 0, |
| "end": 7, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "right_arm_joint_position": { |
| "original_key": "action", |
| "start": 7, |
| "end": 14, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "left_effector_position": { |
| "original_key": "action", |
| "start": 14, |
| "end": 15, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "right_effector_position": { |
| "original_key": "action", |
| "start": 15, |
| "end": 16, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "head_position": { |
| "original_key": "action", |
| "start": 16, |
| "end": 18, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "waist_pitch": { |
| "original_key": "action", |
| "start": 18, |
| "end": 19, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "waist_lift": { |
| "original_key": "action", |
| "start": 19, |
| "end": 20, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| }, |
| "robot_velocity": { |
| "original_key": "action", |
| "start": 20, |
| "end": 22, |
| "rotation_type": null, |
| "absolute": true, |
| "dtype": "float64", |
| "range": null |
| } |
| }, |
| "video": { |
| "top_head": { |
| "original_key": "observation.images.top_head" |
| }, |
| "hand_left": { |
| "original_key": "observation.images.hand_left" |
| }, |
| "hand_right": { |
| "original_key": "observation.images.hand_right" |
| } |
| }, |
| "annotation": { |
| "language.action_text": { |
| "original_key": "task_index" |
| }, |
| "agibot.sub_task": { |
| "original_key": "annotation.agibot.sub_task" |
| }, |
| "frame_type": { |
| "original_key": "annotation.frame_type" |
| } |
| } |
| } |
