| { | |
| "state": { | |
| "right_eef_9d": { | |
| "start": 0, | |
| "end": 9 | |
| }, | |
| "right_gripper": { | |
| "start": 9, | |
| "end": 10 | |
| }, | |
| "left_eef_9d": { | |
| "start": 10, | |
| "end": 19 | |
| }, | |
| "left_gripper": { | |
| "start": 19, | |
| "end": 20 | |
| }, | |
| "camera_pose": { | |
| "start": 0, | |
| "end": 6, | |
| "original_key": "observation.camera0_pose" | |
| } | |
| }, | |
| "action": { | |
| "right_eef_9d": { | |
| "start": 0, | |
| "end": 9 | |
| }, | |
| "right_gripper": { | |
| "start": 9, | |
| "end": 10 | |
| }, | |
| "left_eef_9d": { | |
| "start": 10, | |
| "end": 19 | |
| }, | |
| "left_gripper": { | |
| "start": 19, | |
| "end": 20 | |
| } | |
| }, | |
| "video": { | |
| "camera0": { | |
| "original_key": "observation.images.camera0" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "task_index" | |
| } | |
| }, | |
| "keypoint": { | |
| "keypoint_2d": { | |
| "start": 0, | |
| "end": 48, | |
| "original_key": "observation.keypoint_2d" | |
| }, | |
| "keypoint_valid": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "observation.keypoint_valid" | |
| } | |
| } | |
| } | |