{ "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": { "robot0_eye_in_hand_pad_res256_freq20": { "original_key": "observation.images.robot0_eye_in_hand_pad_res256_freq20" }, "robot1_eye_in_hand_pad_res256_freq20": { "original_key": "observation.images.robot1_eye_in_hand_pad_res256_freq20" }, "agentview_pad_res256_freq20": { "original_key": "observation.images.agentview_pad_res256_freq20" } }, "annotation": { "human.action.task_description": {}, "human.validity": {} } }