| { |
| "state": { |
| "left_arm": { |
| "original_key": "observation.state.left_arm", |
| "start": 0, |
| "end": 6 |
| }, |
| "right_arm": { |
| "original_key": "observation.state.right_arm", |
| "start": 0, |
| "end": 6 |
| }, |
| "left_gripper": { |
| "original_key": "observation.state.left_gripper", |
| "start": 0, |
| "end": 1 |
| }, |
| "right_gripper": { |
| "original_key": "observation.state.right_gripper", |
| "start": 0, |
| "end": 1 |
| }, |
| "left_ee_pose": { |
| "original_key": "observation.state.left_ee_pose_9d", |
| "start": 0, |
| "end": 9 |
| }, |
| "right_ee_pose": { |
| "original_key": "observation.state.right_ee_pose_9d", |
| "start": 0, |
| "end": 9 |
| } |
| }, |
| "action": { |
| "left_gripper": { |
| "original_key": "action.left_gripper", |
| "start": 0, |
| "end": 1 |
| }, |
| "right_gripper": { |
| "original_key": "action.right_gripper", |
| "start": 0, |
| "end": 1 |
| }, |
| "left_arm": { |
| "original_key": "observation.state.left_ee_pose_9d", |
| "start": 0, |
| "end": 9 |
| }, |
| "right_arm": { |
| "original_key": "observation.state.right_ee_pose_9d", |
| "start": 0, |
| "end": 9 |
| }, |
| "left_ee_pose": { |
| "original_key": "action.left_ee_pose_9d", |
| "start": 0, |
| "end": 9 |
| }, |
| "right_ee_pose": { |
| "original_key": "action.right_ee_pose_9d", |
| "start": 0, |
| "end": 9 |
| } |
| }, |
| "video": { |
| "observation.images.head_rgb": { |
| "original_key": "observation.images.head_rgb" |
| }, |
| "observation.images.left_wrist_rgb": { |
| "original_key": "observation.images.left_wrist_rgb" |
| }, |
| "observation.images.right_wrist_rgb": { |
| "original_key": "observation.images.right_wrist_rgb" |
| } |
| }, |
| "annotation": { |
| "human.task_description": { |
| "original_key": "annotation.human.task_description" |
| } |
| } |
| } |
|
|
