{ "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": { "start": 4, "end": 10 }, "right_arm_joints": { "start": 10, "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" } } }