{
    "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"
        },
        "root_orientation": {
            "start": 0,
            "end": 4,
            "original_key": "observation.root_orientation",
            "rotation_type": "quaternion"
        },
        "projected_gravity": {
            "start": 0,
            "end": 3,
            "original_key": "observation.projected_gravity"
        },
        "cpp_rotation_offset": {
            "start": 0,
            "end": 4,
            "original_key": "observation.cpp_rotation_offset",
            "rotation_type": "quaternion"
        },
        "init_base_quat": {
            "start": 0,
            "end": 4,
            "original_key": "observation.init_base_quat",
            "rotation_type": "quaternion"
        }
    },
    "action": {
        "delta_heading": {
            "start": 0,
            "end": 1,
            "original_key": "teleop.delta_heading"
        },
        "motion_token": {
            "start": 0,
            "end": 64,
            "original_key": "action.motion_token"
        },
        "smpl_joints": {
            "start": 0,
            "end": 72,
            "original_key": "teleop.smpl_joints"
        },
        "smpl_pose": {
            "start": 0,
            "end": 63,
            "original_key": "teleop.smpl_pose"
        },
        "body_quat_w": {
            "start": 0,
            "end": 4,
            "original_key": "teleop.body_quat_w",
            "rotation_type": "quaternion"
        },
        "target_body_orientation": {
            "start": 0,
            "end": 6,
            "original_key": "teleop.target_body_orientation",
            "rotation_type": "rotation_6d"
        },
        "left_hand_joints": {
            "start": 0,
            "end": 7,
            "original_key": "teleop.left_hand_joints"
        },
        "right_hand_joints": {
            "start": 0,
            "end": 7,
            "original_key": "teleop.right_hand_joints"
        },
        "left_wrist_joints": {
            "start": 0,
            "end": 3,
            "original_key": "teleop.left_wrist_joints"
        },
        "right_wrist_joints": {
            "start": 0,
            "end": 3,
            "original_key": "teleop.right_wrist_joints"
        },
        "stream_mode": {
            "start": 0,
            "end": 1,
            "original_key": "teleop.stream_mode"
        },
        "planner_mode": {
            "start": 0,
            "end": 1,
            "original_key": "teleop.planner_mode"
        },
        "planner_movement": {
            "start": 0,
            "end": 3,
            "original_key": "teleop.planner_movement"
        },
        "planner_facing": {
            "start": 0,
            "end": 3,
            "original_key": "teleop.planner_facing"
        },
        "planner_speed": {
            "start": 0,
            "end": 1,
            "original_key": "teleop.planner_speed"
        },
        "planner_height": {
            "start": 0,
            "end": 1,
            "original_key": "teleop.planner_height"
        },
        "vr_3pt_position": {
            "start": 0,
            "end": 9,
            "original_key": "teleop.vr_3pt_position"
        },
        "vr_3pt_orientation": {
            "start": 0,
            "end": 18,
            "original_key": "teleop.vr_3pt_orientation",
            "rotation_type": "rotation_6d"
        }
    },
    "video": {
        "ego_view": {
            "original_key": "observation.images.ego_view"
        }
    },
    "annotation": {
        "human.task_description": {
            "original_key": "task_index"
        }
    }
}