| { |
| "state": { |
| "eef_position": { |
| "start": 0, |
| "end": 3 |
| }, |
| "eef_quaternion": { |
| "start": 3, |
| "end": 7, |
| "rotation_type": "quaternion" |
| }, |
| "gripper_qpos": { |
| "start": 7, |
| "end": 9 |
| } |
| }, |
| "action": { |
| "eef_position_delta": { |
| "start": 0, |
| "end": 3 |
| }, |
| "eef_rotation_delta": { |
| "start": 3, |
| "end": 6, |
| "rotation_type": "axis_angle" |
| }, |
| "gripper_close": { |
| "start": 6, |
| "end": 7 |
| } |
| }, |
| "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.validity": {} |
| } |
| } |
|
|
