{ "state": { "left_leg": { "start": 0, "end": 6 }, "right_leg": { "start": 6, "end": 12 }, "waist": { "start": 12, "end": 15 }, "left_arm": { "start": 15, "end": 22 }, "left_hand": { "start": 22, "end": 29 }, "right_arm": { "start": 29, "end": 36 }, "right_hand": { "start": 36, "end": 43 }, "left_wrist_pos": { "start": 0, "end": 3, "original_key": "observation.eef_state" }, "left_wrist_abs_quat": { "start": 3, "end": 7, "original_key": "observation.eef_state", "rotation_type": "quaternion" }, "right_wrist_pos": { "start": 7, "end": 10, "original_key": "observation.eef_state" }, "right_wrist_abs_quat": { "start": 10, "end": 14, "original_key": "observation.eef_state", "rotation_type": "quaternion" } }, "action": { "left_leg": { "start": 0, "end": 6 }, "right_leg": { "start": 6, "end": 12 }, "waist": { "start": 12, "end": 15 }, "left_arm": { "start": 15, "end": 22 }, "left_hand": { "start": 22, "end": 29 }, "right_arm": { "start": 29, "end": 36 }, "right_hand": { "start": 36, "end": 43 }, "left_wrist_pos": { "start": 0, "end": 3, "original_key": "action.eef" }, "left_wrist_abs_quat": { "start": 3, "end": 7, "original_key": "action.eef", "rotation_type": "quaternion" }, "right_wrist_pos": { "start": 7, "end": 10, "original_key": "action.eef" }, "right_wrist_abs_quat": { "start": 10, "end": 14, "original_key": "action.eef", "rotation_type": "quaternion" }, "base_height_command": { "start": 0, "end": 1, "original_key": "teleop.base_height_command" }, "navigate_command": { "start": 0, "end": 3, "original_key": "teleop.navigate_command" } }, "video": { "ego_view": { "original_key": "observation.images.ego_view" } }, "annotation": { "human.task_description": { "original_key": "task_index" } } }