| { |
| "state": { |
| "left_position": {"start": 0, "end": 3, "dtype": "float32", "absolute": true, "original_key": "observation.state"}, |
| "left_rotation": {"start": 3, "end": 7, "dtype": "float32", "absolute": true, "rotation_type": "quaternion", "original_key": "observation.state"}, |
| "left_gripper": {"start": 7, "end": 8, "dtype": "float32", "absolute": true, "original_key": "observation.state"}, |
| "right_position": {"start": 8, "end": 11, "dtype": "float32", "absolute": true, "original_key": "observation.state"}, |
| "right_rotation": {"start": 11, "end": 15, "dtype": "float32", "absolute": true, "rotation_type": "quaternion", "original_key": "observation.state"}, |
| "right_gripper": {"start": 15, "end": 16, "dtype": "float32", "absolute": true, "original_key": "observation.state"} |
| }, |
| "action": { |
| "left_position": {"start": 0, "end": 3, "dtype": "float32", "absolute": true, "original_key": "action"}, |
| "left_rotation": {"start": 3, "end": 7, "dtype": "float32", "absolute": true, "rotation_type": "quaternion", "original_key": "action"}, |
| "left_gripper": {"start": 7, "end": 8, "dtype": "float32", "absolute": true, "original_key": "action"}, |
| "right_position": {"start": 8, "end": 11, "dtype": "float32", "absolute": true, "original_key": "action"}, |
| "right_rotation": {"start": 11, "end": 15, "dtype": "float32", "absolute": true, "rotation_type": "quaternion", "original_key": "action"}, |
| "right_gripper": {"start": 15, "end": 16, "dtype": "float32", "absolute": true, "original_key": "action"} |
| }, |
| "video": { |
| "cam_high": {"original_key": "observation.images.cam_high"}, |
| "cam_left_wrist": {"original_key": "observation.images.cam_left_wrist"}, |
| "cam_right_wrist": {"original_key": "observation.images.cam_right_wrist"} |
| }, |
| "annotation": { |
| "human.action.task_description": {"original_key": "task_index"} |
| } |
| } |
|
|
