Datasets:
| { | |
| "state": { | |
| "neck_joints": { | |
| "start": 0, | |
| "end": 2 | |
| }, | |
| "left_arm_joints": { | |
| "start": 2, | |
| "end": 9 | |
| }, | |
| "right_arm_joints": { | |
| "start": 9, | |
| "end": 16 | |
| }, | |
| "left_hand_joints": { | |
| "start": 16, | |
| "end": 22 | |
| }, | |
| "right_hand_joints": { | |
| "start": 22, | |
| "end": 28 | |
| } | |
| }, | |
| "action": { | |
| "neck_joints": { | |
| "start": 0, | |
| "end": 2 | |
| }, | |
| "left_arm_joints": { | |
| "start": 2, | |
| "end": 9 | |
| }, | |
| "right_arm_joints": { | |
| "start": 9, | |
| "end": 16 | |
| }, | |
| "left_hand_joints": { | |
| "start": 16, | |
| "end": 22 | |
| }, | |
| "right_hand_joints": { | |
| "start": 22, | |
| "end": 28 | |
| } | |
| }, | |
| "video": { | |
| "camera_ego_left": { | |
| "original_key": "observation.images.camera_ego_left" | |
| }, | |
| "camera_ego_right": { | |
| "original_key": "observation.images.camera_ego_right" | |
| } | |
| }, | |
| "annotation": { | |
| "human.task_description": { | |
| "original_key": "task_index" | |
| } | |
| }, | |
| "torque": { | |
| "left_arm_torque": { | |
| "start": 0, | |
| "end": 7, | |
| "original_key": "torque" | |
| }, | |
| "right_arm_torque": { | |
| "start": 7, | |
| "end": 14, | |
| "original_key": "torque" | |
| } | |
| } | |
| } |