File size: 1,869 Bytes
1af10c5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 | {
"state": {
"base_position": {
"original_key": "observation.state",
"start": 0,
"end": 3
},
"base_rotation": {
"original_key": "observation.state",
"start": 3,
"end": 7
},
"end_effector_position_relative": {
"original_key": "observation.state",
"start": 7,
"end": 10
},
"end_effector_rotation_relative": {
"original_key": "observation.state",
"start": 10,
"end": 14
},
"gripper_qpos": {
"original_key": "observation.state",
"start": 14,
"end": 16
}
},
"action": {
"base_motion": {
"original_key": "action",
"start": 0,
"end": 4
},
"control_mode": {
"original_key": "action",
"start": 4,
"end": 5
},
"end_effector_position": {
"original_key": "action",
"start": 5,
"end": 8
},
"end_effector_rotation": {
"original_key": "action",
"start": 8,
"end": 11
},
"gripper_close": {
"original_key": "action",
"start": 11,
"end": 12
}
},
"video": {
"robot0_eye_in_hand": {
"original_key": "observation.images.robot0_eye_in_hand"
},
"robot0_agentview_left": {
"original_key": "observation.images.robot0_agentview_left"
},
"robot0_agentview_right": {
"original_key": "observation.images.robot0_agentview_right"
}
},
"annotation": {
"human.task_description": {
"original_key": "annotation.human.task_description"
}
}
} |