| { | |
| "state": { | |
| "left_arm_eef_pos": { | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "left_arm_eef_quat": { | |
| "start": 3, | |
| "end": 7, | |
| "rotation_type": "quaternion" | |
| }, | |
| "left_arm_joint_pos": { | |
| "start": 7, | |
| "end": 14 | |
| }, | |
| "left_gripper_qpos": { | |
| "start": 14, | |
| "end": 16 | |
| }, | |
| "right_arm_eef_pos": { | |
| "start": 16, | |
| "end": 19 | |
| }, | |
| "right_arm_eef_quat": { | |
| "start": 19, | |
| "end": 23, | |
| "rotation_type": "quaternion" | |
| }, | |
| "right_arm_joint_pos": { | |
| "start": 23, | |
| "end": 30 | |
| }, | |
| "right_gripper_qpos": { | |
| "start": 30, | |
| "end": 32 | |
| } | |
| }, | |
| "action": { | |
| "left_arm_eef_pos": { | |
| "start": 0, | |
| "end": 3, | |
| "absolute": false | |
| }, | |
| "left_arm_eef_rot": { | |
| "start": 3, | |
| "end": 6, | |
| "absolute": false, | |
| "rotation_type": "axis_angle" | |
| }, | |
| "left_gripper_close": { | |
| "start": 6, | |
| "end": 7, | |
| "dtype": "int64" | |
| }, | |
| "right_arm_eef_pos": { | |
| "start": 7, | |
| "end": 10, | |
| "absolute": false | |
| }, | |
| "right_arm_eef_rot": { | |
| "start": 10, | |
| "end": 13, | |
| "absolute": false, | |
| "rotation_type": "axis_angle" | |
| }, | |
| "right_gripper_close": { | |
| "start": 13, | |
| "end": 14, | |
| "dtype": "int64" | |
| } | |
| }, | |
| "video": { | |
| "right_wrist_view": { | |
| "original_key": "observation.images.right_wrist_view" | |
| }, | |
| "left_wrist_view": { | |
| "original_key": "observation.images.left_wrist_view" | |
| }, | |
| "front_view": { | |
| "original_key": "observation.images.front_view" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": {}, | |
| "human.validity": {} | |
| } | |
| } |