Datasets:
| { | |
| "state": { | |
| "franka_eef_pos": { | |
| "start": 22, | |
| "end": 25 | |
| }, | |
| "franka_eef_6d_rot": { | |
| "start": 16, | |
| "end": 22 | |
| }, | |
| "hand_joint_pos": { | |
| "start": 0, | |
| "end": 16 | |
| } | |
| }, | |
| "action": { | |
| "franka_eef_pos": { | |
| "start": 22, | |
| "end": 25 | |
| }, | |
| "franka_eef_6d_rot": { | |
| "start": 16, | |
| "end": 22 | |
| }, | |
| "hand_joint_pos": { | |
| "start": 0, | |
| "end": 16 | |
| } | |
| }, | |
| "video": { | |
| "workspace_view": { | |
| "original_key": "observation.images.main" | |
| }, | |
| "wrist_view_palm": { | |
| "original_key": "observation.images.secondary_1" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } | |