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| "state": { |
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| "end": 3, |
| "original_key": "robot0.observation.state.cartesian_position" |
| }, |
| "cartesian_position_rot_left": { |
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| "end": 6, |
| "rotation_type": "euler_angles_rpy", |
| "original_key": "robot0.observation.state.cartesian_position" |
| }, |
| "gripper_position_left": { |
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| "end": 1, |
| "original_key": "robot0.observation.state.gripper_position" |
| }, |
| "cartesian_position_xyz_right": { |
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| "end": 3, |
| "original_key": "robot1.observation.state.cartesian_position" |
| }, |
| "cartesian_position_rot_right": { |
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| "end": 6, |
| "rotation_type": "euler_angles_rpy", |
| "original_key": "robot1.observation.state.cartesian_position" |
| }, |
| "gripper_position_right": { |
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| "end": 1, |
| "original_key": "robot1.observation.state.gripper_position" |
| }, |
| "delta_action_eef_right": { |
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| "end": 7, |
| "original_key": "robot1.action.delta_action" |
| }, |
| "delta_action_eef_left": { |
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| "original_key": "robot0.action.delta_action" |
| }, |
| "target_cartesian_position_left": { |
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| "original_key": "robot0.action.target_cartesian_position" |
| }, |
| "target_gripper_position_left": { |
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| "end": 1, |
| "original_key": "robot0.action.target_gripper_position" |
| }, |
| "target_cartesian_position_right": { |
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| "end": 6, |
| "original_key": "robot1.action.target_cartesian_position" |
| }, |
| "target_gripper_position_right": { |
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| "end": 1, |
| "original_key": "robot1.action.target_gripper_position" |
| } |
| }, |
| "action": { |
| "cartesian_position_delta_left": { |
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| "end": 6, |
| "absolute": false, |
| "original_key": "robot0.action.cartesian_position_delta" |
| }, |
| "gripper_position_delta_left": { |
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| "end": 1, |
| "absolute": false, |
| "original_key": "robot0.action.gripper_position_delta" |
| }, |
| "delta_action_eef_left": { |
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| "end": 6, |
| "original_key": "robot0.action.delta_action" |
| }, |
| "delta_action_gripper_left": { |
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| "end": 7, |
| "original_key": "robot0.action.delta_action" |
| }, |
| "gripper_velocity_left": { |
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| "end": 1, |
| "original_key": "robot0.action.gripper_velocity" |
| }, |
| "gripper_velocity_delta_left": { |
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| "end": 1, |
| "absolute": false, |
| "original_key": "robot0.action.gripper_velocity_delta" |
| }, |
| "delta_action_delta_left": { |
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| "absolute": false, |
| "original_key": "robot0.action.delta_action_delta" |
| }, |
| "cartesian_velocity_left": { |
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| "end": 6, |
| "original_key": "robot0.action.cartesian_velocity" |
| }, |
| "cartesian_velocity_delta_left": { |
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| "end": 6, |
| "absolute": false, |
| "original_key": "robot0.action.cartesian_velocity_delta" |
| }, |
| "target_cartesian_position_left": { |
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| "end": 6, |
| "original_key": "robot0.action.target_cartesian_position" |
| }, |
| "target_cartesian_position_delta_left": { |
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| "end": 6, |
| "absolute": false, |
| "original_key": "robot0.action.target_cartesian_position_delta" |
| }, |
| "target_gripper_position_left": { |
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| "end": 1, |
| "original_key": "robot0.action.target_gripper_position" |
| }, |
| "target_gripper_position_delta_left": { |
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| "end": 1, |
| "absolute": false, |
| "original_key": "robot0.action.target_gripper_position_delta" |
| }, |
| "gripper_velocity_right": { |
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| "end": 1, |
| "original_key": "robot1.action.gripper_velocity" |
| }, |
| "gripper_velocity_delta_right": { |
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| "end": 1, |
| "absolute": false, |
| "original_key": "robot1.action.gripper_velocity_delta" |
| }, |
| "cartesian_position_delta_right": { |
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| "end": 6, |
| "absolute": false, |
| "original_key": "robot1.action.cartesian_position_delta" |
| }, |
| "gripper_position_delta_right": { |
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| "end": 1, |
| "absolute": false, |
| "original_key": "robot1.action.gripper_position_delta" |
| }, |
| "delta_action_eef_right": { |
| "start": 0, |
| "end": 6, |
| "original_key": "robot1.action.delta_action" |
| }, |
| "delta_action_gripper_right": { |
| "start": 6, |
| "end": 7, |
| "original_key": "robot1.action.delta_action" |
| }, |
| "delta_action_delta_right": { |
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| "end": 7, |
| "absolute": false, |
| "original_key": "robot1.action.delta_action_delta" |
| }, |
| "cartesian_velocity_right": { |
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| "end": 6, |
| "original_key": "robot1.action.cartesian_velocity" |
| }, |
| "cartesian_velocity_delta_right": { |
| "start": 0, |
| "end": 6, |
| "absolute": false, |
| "original_key": "robot1.action.cartesian_velocity_delta" |
| }, |
| "target_cartesian_position_right": { |
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| "end": 6, |
| "original_key": "robot1.action.target_cartesian_position" |
| }, |
| "target_cartesian_position_delta_right": { |
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| "end": 6, |
| "absolute": false, |
| "original_key": "robot1.action.target_cartesian_position_delta" |
| }, |
| "target_gripper_position_right": { |
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| "end": 1, |
| "original_key": "robot1.action.target_gripper_position" |
| }, |
| "target_gripper_position_delta_right": { |
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| "end": 1, |
| "absolute": false, |
| "original_key": "robot1.action.target_gripper_position_delta" |
| } |
| }, |
| "video": { |
| "right_wrist_view": { |
| "original_key": "observation.images.right_wrist_view" |
| }, |
| "left_wrist_view": { |
| "original_key": "observation.images.left_wrist_view" |
| }, |
| "front_view": { |
| "original_key": "observation.images.front_view" |
| }, |
| "video_history_1": { |
| "original_key": "observation.images.video_history_1" |
| }, |
| "video_history_2": { |
| "original_key": "observation.images.video_history_2" |
| }, |
| "video_history_3": { |
| "original_key": "observation.images.video_history_3" |
| } |
| }, |
| "annotation": { |
| "human.action.task_description": { |
| "original_key": "task_index" |
| } |
| } |
| } |
