{
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        },
        "left_leg": {
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        },
        "right_leg": {
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        },
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        },
        "left_arm": {
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        },
        "left_hand": {
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        },
        "right_arm": {
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        },
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        },
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        },
        "left_wrist_quat": {
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            "rotation_type": "quaternion"
        },
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        },
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            "rotation_type": "quaternion"
        },
        "root_orientation": {
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            "rotation_type": "quaternion"
        },
        "projected_gravity": {
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        },
        "init_base_quat": {
            "original_key": "observation.init_base_quat",
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            "rotation_type": "quaternion"
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    },
    "action": {
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        },
        "left_hand_joints": {
            "original_key": "teleop.left_hand_joints",
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        },
        "right_hand_joints": {
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        },
        "wbc": {
            "original_key": "action.wbc",
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            "end": 43
        },
        "stream_mode": {
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            "end": 1
        },
        "locomotion_mode": {
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            "end": 1
        },
        "facing_direction": {
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            "end": 3
        },
        "smpl_joints": {
            "original_key": "teleop.smpl_joints",
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            "end": 72
        },
        "smpl_root_quat": {
            "original_key": "teleop.smpl_root_quat",
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            "rotation_type": "quaternion"
        },
        "wrist_joints": {
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        },
        "vr_3pt_position": {
            "original_key": "teleop.vr_3pt_position",
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        },
        "vr_3pt_orientation": {
            "original_key": "teleop.vr_3pt_orientation",
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            "rotation_type": "quaternion"
        },
        "smpl_pose": {
            "original_key": "teleop.smpl_pose",
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        },
        "planner_movement": {
            "original_key": "teleop.planner_movement",
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            "end": 3
        },
        "planner_speed": {
            "original_key": "teleop.planner_speed",
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            "end": 1
        },
        "planner_height": {
            "original_key": "teleop.planner_height",
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        },
        "left_trigger": {
            "original_key": "teleop.left_trigger",
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        },
        "right_trigger": {
            "original_key": "teleop.right_trigger",
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    },
    "video": {
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            "original_key": "observation.images.ego_view"
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    },
    "annotation": {
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            "original_key": "task_index"
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    }
}