{ "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": {} } }