{ "state": { "neck_joints": { "start": 0, "end": 2 }, "left_arm_joints": { "start": 2, "end": 9 }, "right_arm_joints": { "start": 9, "end": 16 }, "left_hand_joints": { "start": 16, "end": 22 }, "right_hand_joints": { "start": 22, "end": 28 } }, "action": { "neck_joints": { "start": 0, "end": 2 }, "left_arm_joints": { "start": 2, "end": 9 }, "right_arm_joints": { "start": 9, "end": 16 }, "left_hand_joints": { "start": 16, "end": 22 }, "right_hand_joints": { "start": 22, "end": 28 } }, "video": { "camera_ego_left": { "original_key": "observation.images.camera_ego_left" }, "camera_ego_right": { "original_key": "observation.images.camera_ego_right" } }, "annotation": { "human.task_description": { "original_key": "task_index" } }, "torque": { "left_arm_torque": { "start": 0, "end": 7, "original_key": "torque" }, "right_arm_torque": { "start": 7, "end": 14, "original_key": "torque" } } }