| { | |
| "action": { | |
| "left_joints": { | |
| "start": 0, | |
| "end": 6, | |
| "original_key": "action.joints" | |
| }, | |
| "right_joints": { | |
| "start": 6, | |
| "end": 12, | |
| "original_key": "action.joints" | |
| }, | |
| "left_gripper": { | |
| "start": 0, | |
| "end": 2, | |
| "original_key": "action.gripper" | |
| }, | |
| "right_gripper": { | |
| "start": 2, | |
| "end": 4, | |
| "original_key": "action.gripper" | |
| }, | |
| "base_delta": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "action.base_delta" | |
| } | |
| }, | |
| "state": { | |
| "left_joints": { | |
| "start": 0, | |
| "end": 6, | |
| "original_key": "state.joints" | |
| }, | |
| "right_joints": { | |
| "start": 6, | |
| "end": 12, | |
| "original_key": "state.joints" | |
| }, | |
| "left_gripper": { | |
| "start": 0, | |
| "end": 2, | |
| "original_key": "state.gripper" | |
| }, | |
| "right_gripper": { | |
| "start": 2, | |
| "end": 4, | |
| "original_key": "state.gripper" | |
| }, | |
| "base": { | |
| "start": 0, | |
| "end": 3, | |
| "original_key": "state.base" | |
| } | |
| }, | |
| "video": { | |
| "cam_high": { | |
| "original_key": "video.top_camera_view" | |
| }, | |
| "cam_left_wrist": { | |
| "original_key": "video.left_camera_view" | |
| }, | |
| "cam_right_wrist": { | |
| "original_key": "video.right_camera_view" | |
| } | |
| }, | |
| "annotation": { | |
| "human.action.task_description": { | |
| "original_key": "task_index" | |
| } | |
| } | |
| } |