| { | |
| "state": { | |
| "left_arm": { | |
| "joint_position": { | |
| "original_key": "joint_position" | |
| }, | |
| "gripper_position": { | |
| "original_key": "gripper_position" | |
| } | |
| } | |
| }, | |
| "action": { | |
| "left_arm": { | |
| "original_key": "actions" | |
| } | |
| }, | |
| "image": { | |
| "fixed_left": { | |
| "original_key": "exterior_image_1_left" | |
| }, | |
| "fixed_right": { | |
| "original_key": "exterior_image_2_left" | |
| }, | |
| "wrist_left": { | |
| "original_key": "wrist_image_left" | |
| } | |
| }, | |
| "annotation": { | |
| "human.coarse_action": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |