| { | |
| "action": { | |
| "left_joints": { | |
| "start": 0, | |
| "end": 6, | |
| "original_key": "action" | |
| }, | |
| "left_gripper": { | |
| "start": 6, | |
| "end": 7, | |
| "original_key": "action" | |
| }, | |
| "right_joints": { | |
| "start": 7, | |
| "end": 13, | |
| "original_key": "action" | |
| }, | |
| "right_gripper": { | |
| "start": 13, | |
| "end": 14, | |
| "original_key": "action" | |
| } | |
| }, | |
| "state": { | |
| "left_joints": { | |
| "start": 0, | |
| "end": 6, | |
| "original_key": "observation.state" | |
| }, | |
| "left_gripper": { | |
| "start": 6, | |
| "end": 7, | |
| "original_key": "observation.state" | |
| }, | |
| "right_joints": { | |
| "start": 7, | |
| "end": 13, | |
| "original_key": "observation.state" | |
| }, | |
| "right_gripper": { | |
| "start": 13, | |
| "end": 14, | |
| "original_key": "observation.state" | |
| } | |
| }, | |
| "video": { | |
| "cam_high": { | |
| "original_key": "observation.images.cam_high" | |
| }, | |
| "cam_left_wrist": { | |
| "original_key": "observation.images.cam_left_wrist" | |
| }, | |
| "cam_right_wrist": { | |
| "original_key": "observation.images.cam_right_wrist" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |