| { | |
| "state": { | |
| "left_arm_position": { | |
| "start": 0, | |
| "end": 7 | |
| }, | |
| "left_gripper_position": { | |
| "start": 7, | |
| "end": 8 | |
| }, | |
| "left_arm_external_joint_torque": { | |
| "start": 8, | |
| "end": 15 | |
| }, | |
| "left_arm_external_wrench": { | |
| "start": 15, | |
| "end": 21 | |
| }, | |
| "right_arm_position": { | |
| "start": 21, | |
| "end": 28 | |
| }, | |
| "right_gripper_position": { | |
| "start": 28, | |
| "end": 29 | |
| }, | |
| "right_arm_external_joint_torque": { | |
| "start": 29, | |
| "end": 36 | |
| }, | |
| "right_arm_external_wrench": { | |
| "start": 36, | |
| "end": 42 | |
| } | |
| }, | |
| "action": { | |
| "left_arm_position": { | |
| "start": 0, | |
| "end": 7 | |
| }, | |
| "left_gripper_position": { | |
| "start": 7, | |
| "end": 8 | |
| }, | |
| "right_arm_position": { | |
| "start": 8, | |
| "end": 15 | |
| }, | |
| "right_gripper_position": { | |
| "start": 15, | |
| "end": 16 | |
| }, | |
| "spine_target_height": { | |
| "start": 16, | |
| "end": 17 | |
| } | |
| }, | |
| "video": { | |
| "head": { | |
| "original_key": "observation.images.head" | |
| }, | |
| "wrist_left": { | |
| "original_key": "observation.images.wrist_left" | |
| }, | |
| "wrist_right": { | |
| "original_key": "observation.images.wrist_right" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "task_index" | |
| }, | |
| "human.validity": {} | |
| } | |
| } |