| { | |
| "state": { | |
| "joints": { | |
| "start": 0, | |
| "end": 18, | |
| "original_key": "observation.state" | |
| } | |
| }, | |
| "action": { | |
| "x": { | |
| "start": 0, | |
| "end": 1, | |
| "original_key": "action" | |
| }, | |
| "y": { | |
| "start": 1, | |
| "end": 2, | |
| "original_key": "action" | |
| }, | |
| "z": { | |
| "start": 2, | |
| "end": 3, | |
| "original_key": "action" | |
| }, | |
| "roll": { | |
| "start": 3, | |
| "end": 4, | |
| "original_key": "action" | |
| }, | |
| "pitch": { | |
| "start": 4, | |
| "end": 5, | |
| "original_key": "action" | |
| }, | |
| "yaw": { | |
| "start": 5, | |
| "end": 6, | |
| "original_key": "action" | |
| }, | |
| "gripper": { | |
| "start": 6, | |
| "end": 7, | |
| "original_key": "action" | |
| } | |
| }, | |
| "video": { | |
| "external_upper_camera": { | |
| "original_key": "observation.images.external_upper_camera" | |
| }, | |
| "wrist_image": { | |
| "original_key": "observation.images.left_dual_camera" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": {"original_key": "task_index"} | |
| } | |
| } |