LIBERO_FEATURES = {
    "observation.images.image": {
        "dtype": "video",
        "shape": (256, 256, 3),
        "names": ["height", "width", "rgb"],
    },
    "observation.images.wrist_image": {
        "dtype": "video",
        "shape": (256, 256, 3),
        "names": ["height", "width", "rgb"],
    },
    "observation.state": {
        "dtype": "float32",
        "shape": (8,),
        "names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper", "gripper"]},
    },
    "observation.states.ee_state": {
        "dtype": "float32",
        "shape": (6,),
        "names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3"]},
    },
    "observation.states.joint_state": {
        "dtype": "float32",
        "shape": (7,),
        "names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]},
    },
    "observation.states.gripper_state": {
        "dtype": "float32",
        "shape": (2,),
        "names": {"motors": ["gripper", "gripper"]},
    },
    "action": {
        "dtype": "float32",
        "shape": (7,),
        "names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper"]},
    },
}

Everything are float32 except for language_instructions and images , are
├── action # nx14 absolute bimanual joints, not used in our paper 
├── base_action # nx2 chassis actions, not used in our paper 
├── language_instruction # 🌟"fold the cloth"
├── observations
│   ├── eef # nx14 absolute eef pos using euler angles to represent the rotation, not used in our paper
│   │   eef_quaternion # nx16 absolute eef pos using quaternion to represent the rotation, not used in our paper
│   │   eef_6d # 🌟nx20 absolute eef pos using rotate6d to represent the rotation
│   │   eef_left_time # 🌟nx1 the time stamp for left arm eef pos, can be used for resample or interpolation
│   │   eef_right_time # 🌟nx1 the time stamp for right arm eef pos, can be used for resample or interpolation
│   ├── qpos # nx14 absolute bimanual joints, not used in our paper
│   ├── qpos_left_time # nx1 the time stamp for left arm joint pos, can be used for resample or interpolation, not used in our paper
│   ├── qpos_right_time # nx1 the time stamp for right arm joint pos, can be used for resample or interpolation, not used in our paper
│   ├── qvel # nx14 bimanual joint velocity, not used in our paper
│   ├── effort # nx14 bimanual joint effort, not used in our paper
│   ├── images
│   │   ├── cam_high  # 🌟the encoded head cam view, should be decoded using cv2
│   │   ├── cam_left_wrist  # 🌟the encoded left wrist view, should be decoded using cv2
│   │   ├── cam_right_wrist  # 🌟the encoded right wrist view, should be decoded using cv2
├── time_stamp # the time stamp for each sample, not used in our paper