| { | |
| "state": { | |
| "joint_position": { | |
| "start": 0, | |
| "end": 9, | |
| "original_key": "observation.state" | |
| }, | |
| "gripper_width": { | |
| "start": 9, | |
| "end": 10, | |
| "original_key": "observation.state" | |
| } | |
| }, | |
| "action": { | |
| "eef_pose_rot6d": { | |
| "start": 0, | |
| "end": 9, | |
| "original_key": "action" | |
| }, | |
| "gripper": { | |
| "start": 9, | |
| "end": 10, | |
| "original_key": "action" | |
| } | |
| }, | |
| "video": { | |
| "overview": { | |
| "original_key": "observation.images.overview" | |
| }, | |
| "front": { | |
| "original_key": "observation.images.front" | |
| }, | |
| "wrist": { | |
| "original_key": "observation.images.wrist" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } | |