{ "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": {} }