| { | |
| "state": { | |
| "joints": { | |
| "start": 0, | |
| "end": 7, | |
| "dtype": "float32", | |
| "original_key": "states.joint.position", | |
| "absolute": true | |
| }, | |
| "gripper": { | |
| "start": 0, | |
| "end": 1, | |
| "dtype": "float32", | |
| "original_key": "states.gripper.position", | |
| "absolute": true | |
| } | |
| }, | |
| "action": { | |
| "joints": { | |
| "start": 0, | |
| "end": 7, | |
| "dtype": "float32", | |
| "original_key": "actions.joint.position", | |
| "absolute": true | |
| }, | |
| "gripper": { | |
| "start": 0, | |
| "end": 1, | |
| "dtype": "float32", | |
| "original_key": "actions.gripper.position", | |
| "absolute": true | |
| } | |
| }, | |
| "video": { | |
| "overview_0": { | |
| "original_key": "images.rgb.head" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } | |