| { | |
| "state": { | |
| "left_arm_eef_pos": { | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "left_arm_eef_quat": { | |
| "start": 3, | |
| "end": 7, | |
| "rotation_type": "quaternion" | |
| }, | |
| "left_arm_joint_pos": { | |
| "start": 7, | |
| "end": 14 | |
| }, | |
| "left_hand": { | |
| "start": 14, | |
| "end": 20 | |
| }, | |
| "right_arm_eef_pos": { | |
| "start": 20, | |
| "end": 23 | |
| }, | |
| "right_arm_eef_quat": { | |
| "start": 23, | |
| "end": 27, | |
| "rotation_type": "quaternion" | |
| }, | |
| "right_arm_joint_pos": { | |
| "start": 27, | |
| "end": 34 | |
| }, | |
| "right_hand": { | |
| "start": 34, | |
| "end": 40 | |
| } | |
| }, | |
| "action": { | |
| "left_arm_eef_pos": { | |
| "start": 0, | |
| "end": 3, | |
| "absolute": false | |
| }, | |
| "left_arm_eef_rot": { | |
| "start": 3, | |
| "end": 6, | |
| "absolute": false, | |
| "rotation_type": "axis_angle" | |
| }, | |
| "left_hand": { | |
| "start": 6, | |
| "end": 12 | |
| }, | |
| "right_arm_eef_pos": { | |
| "start": 12, | |
| "end": 15, | |
| "absolute": false | |
| }, | |
| "right_arm_eef_rot": { | |
| "start": 15, | |
| "end": 18, | |
| "absolute": false, | |
| "rotation_type": "axis_angle" | |
| }, | |
| "right_hand": { | |
| "start": 18, | |
| "end": 24 | |
| } | |
| }, | |
| "video": { | |
| "right_wrist_view": { | |
| "original_key": "observation.images.right_wrist_view" | |
| }, | |
| "left_wrist_view": { | |
| "original_key": "observation.images.left_wrist_view" | |
| }, | |
| "ego_view": { | |
| "original_key": "observation.images.ego_view" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": {}, | |
| "human.validity": {} | |
| } | |
| } |