| { |
| "state": { |
| "base_position": { |
| "original_key": "observation.state", |
| "start": 0, |
| "end": 3 |
| }, |
| "base_rotation": { |
| "original_key": "observation.state", |
| "start": 3, |
| "end": 7 |
| }, |
| "end_effector_position_relative": { |
| "original_key": "observation.state", |
| "start": 7, |
| "end": 10 |
| }, |
| "end_effector_rotation_relative": { |
| "original_key": "observation.state", |
| "start": 10, |
| "end": 14 |
| }, |
| "gripper_qpos": { |
| "original_key": "observation.state", |
| "start": 14, |
| "end": 16 |
| } |
| }, |
| "action": { |
| "base_motion": { |
| "original_key": "action", |
| "start": 0, |
| "end": 4 |
| }, |
| "control_mode": { |
| "original_key": "action", |
| "start": 4, |
| "end": 5 |
| }, |
| "end_effector_position": { |
| "original_key": "action", |
| "start": 5, |
| "end": 8 |
| }, |
| "end_effector_rotation": { |
| "original_key": "action", |
| "start": 8, |
| "end": 11 |
| }, |
| "gripper_close": { |
| "original_key": "action", |
| "start": 11, |
| "end": 12 |
| } |
| }, |
| "video": { |
| "robot0_eye_in_hand": { |
| "original_key": "observation.images.robot0_eye_in_hand" |
| }, |
| "robot0_agentview_left": { |
| "original_key": "observation.images.robot0_agentview_left" |
| }, |
| "robot0_agentview_right": { |
| "original_key": "observation.images.robot0_agentview_right" |
| } |
| }, |
| "annotation": { |
| "human.task_description": { |
| "original_key": "annotation.human.task_description" |
| } |
| } |
| } |
