| { | |
| "state": { | |
| "psm1_pose": { | |
| "start": 0, | |
| "end": 7 | |
| }, | |
| "psm1_gripper": { | |
| "start": 7, | |
| "end": 8 | |
| }, | |
| "psm2_pose": { | |
| "start": 8, | |
| "end": 15 | |
| }, | |
| "psm2_gripper": { | |
| "start": 15, | |
| "end": 16 | |
| } | |
| }, | |
| "action": { | |
| "psm1_pose": { | |
| "start": 0, | |
| "end": 7 | |
| }, | |
| "psm1_gripper": { | |
| "start": 7, | |
| "end": 8 | |
| }, | |
| "psm2_pose": { | |
| "start": 8, | |
| "end": 15 | |
| }, | |
| "psm2_gripper": { | |
| "start": 15, | |
| "end": 16 | |
| } | |
| }, | |
| "video": { | |
| "endoscope_left": { | |
| "original_key": "observation.images.endoscope_left" | |
| }, | |
| "endoscope_right": { | |
| "original_key": "observation.images.endoscope_right" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |