| { | |
| "action": { | |
| "eef_pos": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "action" | |
| }, | |
| "eef_rot": { | |
| "start": 3, | |
| "end": 9, | |
| "original_key": "action" | |
| }, | |
| "gripper": { | |
| "start": 9, | |
| "end": 10, | |
| "original_key": "action" | |
| } | |
| }, | |
| "state": { | |
| "eef_pos": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "observation.state" | |
| }, | |
| "eef_rot": { | |
| "start": 3, | |
| "end": 9, | |
| "original_key": "observation.state" | |
| }, | |
| "gripper": { | |
| "start": 9, | |
| "end": 10, | |
| "original_key": "observation.state" | |
| } | |
| }, | |
| "video": { | |
| "cam_wrist": { | |
| "original_key": "observation.images.cam_wrist", | |
| "camera_serial": "11845904" | |
| }, | |
| "cam_ext_left": { | |
| "original_key": "observation.images.cam_ext_left", | |
| "camera_serial": "37149196" | |
| }, | |
| "cam_ext_right": { | |
| "original_key": "observation.images.cam_ext_right", | |
| "camera_serial": "34022131" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |