| { |
| "state": { |
| "left_arm_joints": { |
| "original_key": "observation.state", |
| "start": 0, |
| "end": 7, |
| "dtype": "float32" |
| }, |
| "left_eef_position": { |
| "original_key": "observation.state", |
| "start": 7, |
| "end": 10, |
| "dtype": "float32" |
| }, |
| "left_eef_rotation": { |
| "original_key": "observation.state", |
| "start": 10, |
| "end": 16, |
| "dtype": "float32", |
| "rotation_type": "rotation_6d" |
| }, |
| "left_gripper": { |
| "original_key": "observation.state", |
| "start": 16, |
| "end": 17, |
| "dtype": "float32" |
| }, |
| "right_arm_joints": { |
| "original_key": "observation.state", |
| "start": 29, |
| "end": 36, |
| "dtype": "float32" |
| }, |
| "right_eef_position": { |
| "original_key": "observation.state", |
| "start": 36, |
| "end": 39, |
| "dtype": "float32" |
| }, |
| "right_eef_rotation": { |
| "original_key": "observation.state", |
| "start": 39, |
| "end": 45, |
| "dtype": "float32", |
| "rotation_type": "rotation_6d" |
| }, |
| "right_gripper": { |
| "original_key": "observation.state", |
| "start": 45, |
| "end": 46, |
| "dtype": "float32" |
| }, |
| "base_twist": { |
| "original_key": "observation.state", |
| "start": 58, |
| "end": 61, |
| "dtype": "float32" |
| }, |
| "lift_height": { |
| "original_key": "observation.state", |
| "start": 68, |
| "end": 69, |
| "dtype": "float32" |
| } |
| }, |
| "action": { |
| "left_arm_joints": { |
| "original_key": "action", |
| "start": 0, |
| "end": 7, |
| "absolute": true, |
| "dtype": "float32" |
| }, |
| "left_eef_position": { |
| "original_key": "action", |
| "start": 7, |
| "end": 10, |
| "absolute": true, |
| "dtype": "float32" |
| }, |
| "left_eef_rotation": { |
| "original_key": "action", |
| "start": 10, |
| "end": 16, |
| "absolute": true, |
| "dtype": "float32", |
| "rotation_type": "rotation_6d" |
| }, |
| "left_gripper": { |
| "original_key": "action", |
| "start": 16, |
| "end": 17, |
| "absolute": true, |
| "dtype": "float32" |
| }, |
| "right_arm_joints": { |
| "original_key": "action", |
| "start": 29, |
| "end": 36, |
| "absolute": true, |
| "dtype": "float32" |
| }, |
| "right_eef_position": { |
| "original_key": "action", |
| "start": 36, |
| "end": 39, |
| "absolute": true, |
| "dtype": "float32" |
| }, |
| "right_eef_rotation": { |
| "original_key": "action", |
| "start": 39, |
| "end": 45, |
| "absolute": true, |
| "dtype": "float32", |
| "rotation_type": "rotation_6d" |
| }, |
| "right_gripper": { |
| "original_key": "action", |
| "start": 45, |
| "end": 46, |
| "absolute": true, |
| "dtype": "float32" |
| }, |
| "base_twist": { |
| "original_key": "action", |
| "start": 58, |
| "end": 61, |
| "absolute": true, |
| "dtype": "float32" |
| }, |
| "lift_height": { |
| "original_key": "action", |
| "start": 68, |
| "end": 69, |
| "absolute": true, |
| "dtype": "float32" |
| } |
| }, |
| "video": { |
| "primary": { |
| "original_key": "primary" |
| }, |
| "wrist_left": { |
| "original_key": "wrist_left" |
| }, |
| "wrist_right": { |
| "original_key": "wrist_right" |
| } |
| }, |
| "annotation": {} |
| } |
