| { | |
| "state": { | |
| "arm_joint_positions": { | |
| "start": 0, | |
| "end": 6 | |
| }, | |
| "gripper_position": { | |
| "start": 6, | |
| "end": 7 | |
| } | |
| }, | |
| "action": { | |
| "arm_joint_positions": { | |
| "start": 0, | |
| "end": 6 | |
| }, | |
| "gripper": { | |
| "start": 6, | |
| "end": 7 | |
| } | |
| }, | |
| "video": { | |
| "zed_right": { | |
| "original_key": "observation.images.zed_right" | |
| }, | |
| "zed_top": { | |
| "original_key": "observation.images.zed_top" | |
| }, | |
| "zed_back_left": { | |
| "original_key": "observation.images.zed_back_left" | |
| }, | |
| "zed_front": { | |
| "original_key": "observation.images.zed_front" | |
| }, | |
| "zed_front_left": { | |
| "original_key": "observation.images.zed_front_left" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "annotation.human.action.task_description" | |
| } | |
| } | |
| } | |