| { | |
| "state": { | |
| "arm": { | |
| "original_key": "observation.state", | |
| "start": 0, | |
| "end": 6 | |
| }, | |
| "gripper": { | |
| "original_key": "observation.state", | |
| "start": 6, | |
| "end": 7 | |
| }, | |
| "eef_9d": { | |
| "original_key": "observation.eef_9d", | |
| "start": 0, | |
| "end": 9 | |
| } | |
| }, | |
| "action": { | |
| "arm": { | |
| "start": 0, | |
| "end": 6 | |
| }, | |
| "gripper": { | |
| "start": 6, | |
| "end": 7 | |
| }, | |
| "eef_9d": { | |
| "original_key": "action.eef_9d", | |
| "start": 0, | |
| "end": 9 | |
| } | |
| }, | |
| "video": { | |
| "ego_view": { | |
| "original_key": "observation.images.ego_view" | |
| }, | |
| "wrist_a_view": { | |
| "original_key": "observation.images.wrist_a_view" | |
| }, | |
| "wrist_b_view": { | |
| "original_key": "observation.images.wrist_b_view" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |