| { |
| "state": { |
| "joint_pos": { |
| "original_key": "observation.state", |
| "start": 0, |
| "end": 43 |
| }, |
| "left_leg": { |
| "original_key": "observation.state", |
| "start": 0, |
| "end": 6 |
| }, |
| "right_leg": { |
| "original_key": "observation.state", |
| "start": 6, |
| "end": 12 |
| }, |
| "waist": { |
| "original_key": "observation.state", |
| "start": 12, |
| "end": 15 |
| }, |
| "left_arm": { |
| "original_key": "observation.state", |
| "start": 15, |
| "end": 22 |
| }, |
| "left_hand": { |
| "original_key": "observation.state", |
| "start": 22, |
| "end": 29 |
| }, |
| "right_arm": { |
| "original_key": "observation.state", |
| "start": 29, |
| "end": 36 |
| }, |
| "right_hand": { |
| "original_key": "observation.state", |
| "start": 36, |
| "end": 43 |
| }, |
| "left_wrist_pos": { |
| "original_key": "observation.eef_state", |
| "start": 0, |
| "end": 3 |
| }, |
| "left_wrist_quat": { |
| "original_key": "observation.eef_state", |
| "start": 3, |
| "end": 7, |
| "rotation_type": "quaternion" |
| }, |
| "right_wrist_pos": { |
| "original_key": "observation.eef_state", |
| "start": 7, |
| "end": 10 |
| }, |
| "right_wrist_quat": { |
| "original_key": "observation.eef_state", |
| "start": 10, |
| "end": 14, |
| "rotation_type": "quaternion" |
| }, |
| "root_orientation": { |
| "original_key": "observation.root_orientation", |
| "start": 0, |
| "end": 4, |
| "rotation_type": "quaternion" |
| }, |
| "projected_gravity": { |
| "original_key": "observation.projected_gravity", |
| "start": 0, |
| "end": 3 |
| }, |
| "init_base_quat": { |
| "original_key": "observation.init_base_quat", |
| "start": 0, |
| "end": 4, |
| "rotation_type": "quaternion" |
| } |
| }, |
| "action": { |
| "motion_token": { |
| "original_key": "action.motion_token", |
| "start": 0, |
| "end": 64 |
| }, |
| "left_hand_joints": { |
| "original_key": "teleop.left_hand_joints", |
| "start": 0, |
| "end": 7 |
| }, |
| "right_hand_joints": { |
| "original_key": "teleop.right_hand_joints", |
| "start": 0, |
| "end": 7 |
| }, |
| "wbc": { |
| "original_key": "action.wbc", |
| "start": 0, |
| "end": 43 |
| }, |
| "stream_mode": { |
| "original_key": "teleop.stream_mode", |
| "start": 0, |
| "end": 1 |
| }, |
| "locomotion_mode": { |
| "original_key": "teleop.locomotion_mode", |
| "start": 0, |
| "end": 1 |
| }, |
| "facing_direction": { |
| "original_key": "teleop.facing_direction", |
| "start": 0, |
| "end": 3 |
| }, |
| "smpl_joints": { |
| "original_key": "teleop.smpl_joints", |
| "start": 0, |
| "end": 72 |
| }, |
| "smpl_root_quat": { |
| "original_key": "teleop.smpl_root_quat", |
| "start": 0, |
| "end": 4, |
| "rotation_type": "quaternion" |
| }, |
| "wrist_joints": { |
| "original_key": "teleop.wrist_joints", |
| "start": 0, |
| "end": 6 |
| }, |
| "vr_3pt_position": { |
| "original_key": "teleop.vr_3pt_position", |
| "start": 0, |
| "end": 9 |
| }, |
| "vr_3pt_orientation": { |
| "original_key": "teleop.vr_3pt_orientation", |
| "start": 0, |
| "end": 12, |
| "rotation_type": "quaternion" |
| }, |
| "smpl_pose": { |
| "original_key": "teleop.smpl_pose", |
| "start": 0, |
| "end": 63 |
| }, |
| "planner_movement": { |
| "original_key": "teleop.planner_movement", |
| "start": 0, |
| "end": 3 |
| }, |
| "planner_speed": { |
| "original_key": "teleop.planner_speed", |
| "start": 0, |
| "end": 1 |
| }, |
| "planner_height": { |
| "original_key": "teleop.planner_height", |
| "start": 0, |
| "end": 1 |
| }, |
| "left_trigger": { |
| "original_key": "teleop.left_trigger", |
| "start": 0, |
| "end": 1 |
| }, |
| "right_trigger": { |
| "original_key": "teleop.right_trigger", |
| "start": 0, |
| "end": 1 |
| } |
| }, |
| "video": { |
| "ego_view": { |
| "original_key": "observation.images.ego_view" |
| } |
| }, |
| "annotation": { |
| "human.task_description": { |
| "original_key": "task_index" |
| } |
| } |
| } |
|
|
