| { | |
| "state": { | |
| "base_position": { | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "base_rotation": { | |
| "start": 3, | |
| "end": 7, | |
| "rotation_type": "quaternion" | |
| }, | |
| "end_effector_position_absolute": { | |
| "start": 7, | |
| "end": 10 | |
| }, | |
| "end_effector_position_relative": { | |
| "start": 10, | |
| "end": 13 | |
| }, | |
| "end_effector_rotation_absolute": { | |
| "start": 13, | |
| "end": 17, | |
| "rotation_type": "quaternion" | |
| }, | |
| "end_effector_rotation_relative": { | |
| "start": 17, | |
| "end": 21, | |
| "rotation_type": "quaternion" | |
| }, | |
| "gripper_qpos": { | |
| "start": 21, | |
| "end": 23 | |
| }, | |
| "gripper_qvel": { | |
| "start": 23, | |
| "end": 25 | |
| }, | |
| "joint_position": { | |
| "start": 25, | |
| "end": 32 | |
| }, | |
| "joint_position_cos": { | |
| "start": 32, | |
| "end": 39 | |
| }, | |
| "joint_position_sin": { | |
| "start": 39, | |
| "end": 46 | |
| }, | |
| "joint_velocity": { | |
| "start": 46, | |
| "end": 53 | |
| } | |
| }, | |
| "action": { | |
| "base_motion": { | |
| "start": 0, | |
| "end": 4, | |
| "absolute": false | |
| }, | |
| "control_mode": { | |
| "start": 4, | |
| "end": 5, | |
| "dtype": "int64", | |
| "range": [ | |
| 0, | |
| 1 | |
| ] | |
| }, | |
| "end_effector_position": { | |
| "start": 5, | |
| "end": 8, | |
| "absolute": false | |
| }, | |
| "end_effector_rotation": { | |
| "start": 8, | |
| "end": 11, | |
| "absolute": false, | |
| "rotation_type": "axis_angle" | |
| }, | |
| "gripper_close": { | |
| "start": 11, | |
| "end": 12, | |
| "dtype": "int64", | |
| "range": [ | |
| 0, | |
| 1 | |
| ] | |
| } | |
| }, | |
| "video": { | |
| "left_view": { | |
| "original_key": "observation.images.left_view" | |
| }, | |
| "right_view": { | |
| "original_key": "observation.images.right_view" | |
| }, | |
| "wrist_view": { | |
| "original_key": "observation.images.wrist_view" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": {}, | |
| "human.action.task_name": {}, | |
| "human.validity": {} | |
| } | |
| } |