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{
    "state": {
        "wheel_joints": {
            "start": 0,
            "end": 4,
            "original_key": "observation.joint_position"
        },
        "torso_joints": {
            "start": 4,
            "end": 10,
            "original_key": "observation.joint_position"
        },
        "right_arm_joints": {
            "start": 10,
            "end": 17,
            "original_key": "observation.joint_position"
        },
        "right_hand_joints": {
            "start": 17,
            "end": 37,
            "original_key": "observation.joint_position"
        },
        "left_arm_joints": {
            "start": 37,
            "end": 44,
            "original_key": "observation.joint_position"
        },
        "left_hand_joints": {
            "start": 44,
            "end": 64,
            "original_key": "observation.joint_position"
        },
        "neck_joints": {
            "start": 64,
            "end": 66,
            "original_key": "observation.joint_position"
        }
    },
    "action": {
        "wheel_joints": {
            "start": 0,
            "end": 4
        },
        "torso_joints": {
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            "end": 10
        },
        "right_arm_joints": {
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            "end": 17
        },
        "right_hand_joints": {
            "start": 17,
            "end": 37
        },
        "left_arm_joints": {
            "start": 37,
            "end": 44
        },
        "left_hand_joints": {
            "start": 44,
            "end": 64
        },
        "neck_joints": {
            "start": 64,
            "end": 66
        }
    },
    "video": {
        "camera_ego_left": {
            "original_key": "observation.images.camera_ego_left"
        },
        "camera_ego_right": {
            "original_key": "observation.images.camera_ego_right"
        },
        "camera_wrist_left": {
            "original_key": "observation.images.camera_wrist_left"
        },
        "camera_wrist_right": {
            "original_key": "observation.images.camera_wrist_right"
        }
    },
    "annotation": {
        "human.task_description": {
            "original_key": "task_index"
        }
    }
}