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{
"state": {
"left_arm_pose": {
"start": 0,
"end": 7,
"original_key": "observation.state.left_arm_cartesian"
},
"left_arm_gripper": {
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"end": 8,
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},
"right_arm_pose": {
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},
"right_arm_gripper": {
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"original_key": "observation.state.right_arm_cartesian"
}
},
"action": {
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"original_key": "action.cartesian_absolute"
},
"left_arm_gripper": {
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"original_key": "action.cartesian_absolute"
},
"right_arm_pose": {
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"end": 15,
"original_key": "action.cartesian_absolute"
},
"right_arm_gripper": {
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"end": 16,
"original_key": "action.cartesian_absolute"
}
},
"video": {
"endoscope": {
"original_key": "observation.images.color"
},
"wrist_left": {
"original_key": "observation.images.wrist_left"
},
"wrist_right": {
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}
},
"annotation": {
"task": {
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}
}
}