# pot14 自采双臂台架 — 单活动臂 7 维（自动映射左或右）
# 与 data/processed/pot14_right_arm 配套
# 相机: 拼接画面裁剪后的 top / left / right

states:
  - observation.state.arm.position:
      origin_keys:
        - observation.state:
            start: 0
            end: 6

  - observation.state.effector.position:
      origin_keys:
        - observation.state:
            start: 6
            end: 7

actions:
  - action.arm.position:
      origin_keys:
        - action:
            start: 0
            end: 6
      subtract_state: True

  - action.effector.position:
      origin_keys:
        - action:
            start: 6
            end: 7
      subtract_state: False

images:
  - observation.images.camera_top:
      origin_keys: observation.images.top
  - observation.images.camera_wrist_left:
      origin_keys: observation.images.left
  - observation.images.camera_wrist_right:
      origin_keys: observation.images.right