| { | |
| "state": { | |
| "arm_qpos": { | |
| "start": 0, | |
| "end": 7 | |
| }, | |
| "gripper_qpos": { | |
| "start": 7, | |
| "end": 8 | |
| } | |
| }, | |
| "action": { | |
| "arm_qpos_target": { | |
| "start": 0, | |
| "end": 7 | |
| }, | |
| "gripper_target": { | |
| "start": 7, | |
| "end": 8 | |
| } | |
| }, | |
| "video": { | |
| "front": { | |
| "original_key": "observation.images.front" | |
| }, | |
| "side": { | |
| "original_key": "observation.images.side" | |
| }, | |
| "wrist": { | |
| "original_key": "observation.images.wrist" | |
| } | |
| }, | |
| "annotation": { | |
| "annotation.human.task_description": {} | |
| } | |
| } | |