| { | |
| "state": { | |
| "single_arm": { | |
| "start": 0, | |
| "end": 5 | |
| }, | |
| "gripper": { | |
| "start": 5, | |
| "end": 6 | |
| }, | |
| "base_vel": { | |
| "start": 6, | |
| "end": 8 | |
| }, | |
| "base_pos": { | |
| "start": 8, | |
| "end": 11 | |
| } | |
| }, | |
| "action": { | |
| "single_arm": { | |
| "start": 0, | |
| "end": 5 | |
| }, | |
| "gripper": { | |
| "start": 5, | |
| "end": 6 | |
| }, | |
| "base_vel": { | |
| "start": 6, | |
| "end": 8 | |
| } | |
| }, | |
| "video": { | |
| "camera_left": { | |
| "original_key": "observation.images.camera_left" | |
| }, | |
| "camera_right": { | |
| "original_key": "observation.images.camera_right" | |
| }, | |
| "camera_wrist": { | |
| "original_key": "observation.images.camera_wrist" | |
| }, | |
| "camera_d455": { | |
| "original_key": "observation.images.camera_d455" | |
| }, | |
| "camera_front": { | |
| "original_key": "observation.images.camera_front" | |
| }, | |
| "depth": { | |
| "original_key": "observation.images.depth" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |