| { | |
| "state": { | |
| "wheel_joints": { | |
| "start": 0, | |
| "end": 4, | |
| "original_key": "observation.joint_position" | |
| }, | |
| "torso_joints": { | |
| "start": 4, | |
| "end": 10, | |
| "original_key": "observation.joint_position" | |
| }, | |
| "right_arm_joints": { | |
| "start": 10, | |
| "end": 17, | |
| "original_key": "observation.joint_position" | |
| }, | |
| "right_hand_joints": { | |
| "start": 17, | |
| "end": 37, | |
| "original_key": "observation.joint_position" | |
| }, | |
| "left_arm_joints": { | |
| "start": 37, | |
| "end": 44, | |
| "original_key": "observation.joint_position" | |
| }, | |
| "left_hand_joints": { | |
| "start": 44, | |
| "end": 64, | |
| "original_key": "observation.joint_position" | |
| }, | |
| "neck_joints": { | |
| "start": 64, | |
| "end": 66, | |
| "original_key": "observation.joint_position" | |
| } | |
| }, | |
| "action": { | |
| "wheel_joints": { | |
| "start": 0, | |
| "end": 4 | |
| }, | |
| "torso_joints": { | |
| "start": 4, | |
| "end": 10 | |
| }, | |
| "right_arm_joints": { | |
| "start": 10, | |
| "end": 17 | |
| }, | |
| "right_hand_joints": { | |
| "start": 17, | |
| "end": 37 | |
| }, | |
| "left_arm_joints": { | |
| "start": 37, | |
| "end": 44 | |
| }, | |
| "left_hand_joints": { | |
| "start": 44, | |
| "end": 64 | |
| }, | |
| "neck_joints": { | |
| "start": 64, | |
| "end": 66 | |
| } | |
| }, | |
| "video": { | |
| "camera_ego_left": { | |
| "original_key": "observation.images.camera_ego_left" | |
| }, | |
| "camera_ego_right": { | |
| "original_key": "observation.images.camera_ego_right" | |
| }, | |
| "camera_wrist_left": { | |
| "original_key": "observation.images.camera_wrist_left" | |
| }, | |
| "camera_wrist_right": { | |
| "original_key": "observation.images.camera_wrist_right" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } | |