| { |
| "action": { |
| "joints": { |
| "start": 0, |
| "end": 7, |
| "original_key": "action.joints" |
| }, |
| "gripper_width": { |
| "start": 0, |
| "end": 6, |
| "original_key": "action.gripper_width" |
| }, |
| "gripper_close": { |
| "start": 0, |
| "end": 1, |
| "original_key": "action.gripper_close" |
| }, |
| "eef_position": { |
| "start": 0, |
| "end": 3, |
| "original_key": "action.eef_position" |
| }, |
| "eef_rotation": { |
| "start": 0, |
| "end": 3, |
| "original_key": "action.eef_rotation" |
| }, |
| "eef_quaternion": { |
| "start": 0, |
| "end": 4, |
| "original_key": "action.eef_quaternion" |
| }, |
| "delta_joints": { |
| "start": 0, |
| "end": 7, |
| "original_key": "action.delta_joints" |
| }, |
| "delta_eef_position": { |
| "start": 0, |
| "end": 3, |
| "original_key": "action.delta_eef_position" |
| }, |
| "delta_eef_rotation": { |
| "start": 0, |
| "end": 3, |
| "original_key": "action.delta_eef_rotation" |
| }, |
| "delta_eef_quaternion": { |
| "start": 0, |
| "end": 4, |
| "original_key": "action.delta_eef_quaternion" |
| } |
| }, |
| "state": { |
| "joints": { |
| "start": 0, |
| "end": 7, |
| "original_key": "state.joints" |
| }, |
| "gripper_width": { |
| "start": 0, |
| "end": 6, |
| "original_key": "state.gripper_width" |
| }, |
| "joints_velocity": { |
| "start": 0, |
| "end": 7, |
| "original_key": "state.joints_velocity" |
| }, |
| "gripper_velocity": { |
| "start": 0, |
| "end": 6, |
| "original_key": "state.gripper_velocity" |
| }, |
| "eef_position": { |
| "start": 0, |
| "end": 3, |
| "original_key": "state.eef_position" |
| }, |
| "eef_rotation": { |
| "start": 0, |
| "end": 3, |
| "original_key": "state.eef_rotation" |
| }, |
| "eef_quaternion": { |
| "start": 0, |
| "end": 4, |
| "original_key": "state.eef_quaternion" |
| } |
| }, |
| "video": { |
| "base_view": { |
| "original_key": "video.base_view" |
| }, |
| "base_view_2": { |
| "original_key": "video.base_view_2" |
| }, |
| "ego_view": { |
| "original_key": "video.ego_view" |
| } |
| }, |
| "annotation": { |
| "human.action.task_description": { |
| "original_key": "task_index" |
| }, |
| "tcp_3d_trace": { |
| "original_key": "annotation.tcp_3d_trace" |
| }, |
| "base_view.tcp_2d_trace": { |
| "original_key": "annotation.base_view.tcp_2d_trace" |
| }, |
| "base_view_2.tcp_2d_trace": { |
| "original_key": "annotation.base_view_2.tcp_2d_trace" |
| }, |
| "ego_view.tcp_2d_trace": { |
| "original_key": "annotation.ego_view.tcp_2d_trace" |
| }, |
| "pick_obj_uid": { |
| "original_key": "annotation.pick_obj_uid" |
| }, |
| "place_obj_uid": { |
| "original_key": "annotation.place_obj_uid" |
| }, |
| "base_view.bbox2d_tight": { |
| "original_key": "annotation.base_view.bbox2d_tight" |
| }, |
| "base_view.bbox2d_tight_id2labels": { |
| "original_key": "annotation.base_view.bbox2d_tight_id2labels" |
| }, |
| "base_view_2.bbox2d_tight": { |
| "original_key": "annotation.base_view_2.bbox2d_tight" |
| }, |
| "base_view_2.bbox2d_tight_id2labels": { |
| "original_key": "annotation.base_view_2.bbox2d_tight_id2labels" |
| }, |
| "ego_view.bbox2d_tight": { |
| "original_key": "annotation.ego_view.bbox2d_tight" |
| }, |
| "ego_view.bbox2d_tight_id2labels": { |
| "original_key": "annotation.ego_view.bbox2d_tight_id2labels" |
| }, |
| "base_view.bbox2d_loose": { |
| "original_key": "annotation.base_view.bbox2d_loose" |
| }, |
| "base_view_2.bbox2d_loose": { |
| "original_key": "annotation.base_view_2.bbox2d_loose" |
| }, |
| "ego_view.bbox2d_loose": { |
| "original_key": "annotation.ego_view.bbox2d_loose" |
| }, |
| "base_view.bbox2d_loose_id2labels": { |
| "original_key": "annotation.base_view.bbox2d_loose_id2labels" |
| }, |
| "base_view_2.bbox2d_loose_id2labels": { |
| "original_key": "annotation.base_view_2.bbox2d_loose_id2labels" |
| }, |
| "ego_view.bbox2d_loose_id2labels": { |
| "original_key": "annotation.ego_view.bbox2d_loose_id2labels" |
| }, |
| "bbox3d": { |
| "original_key": "annotation.bbox3d" |
| }, |
| "bbox3d_id2labels": { |
| "original_key": "annotation.bbox3d_id2labels" |
| }, |
| "rewrite_instructions": { |
| "original_key": "annotation.rewrite_instructions" |
| } |
| } |
| } |
