| { | |
| "state": { | |
| "eef_position": { | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "eef_quaternion_wxyz": { | |
| "start": 3, | |
| "end": 7 | |
| }, | |
| "gripper": { | |
| "start": 7, | |
| "end": 8 | |
| } | |
| }, | |
| "action": { | |
| "eef_position": { | |
| "start": 0, | |
| "end": 3 | |
| }, | |
| "eef_quaternion_wxyz": { | |
| "start": 3, | |
| "end": 7 | |
| }, | |
| "gripper": { | |
| "start": 7, | |
| "end": 8 | |
| } | |
| }, | |
| "video": { | |
| "front": { | |
| "original_key": "observation.images.front" | |
| }, | |
| "wrist": { | |
| "original_key": "observation.images.wrist" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "annotation.human.action.task_description" | |
| } | |
| } | |
| } |