{ "state": { "left_arm_eef_pos": { "start": 0, "end": 3 }, "left_arm_eef_quat": { "start": 3, "end": 7, "rotation_type": "quaternion" }, "left_arm_joint_pos": { "start": 7, "end": 14 }, "left_hand": { "start": 14, "end": 20 }, "right_arm_eef_pos": { "start": 20, "end": 23 }, "right_arm_eef_quat": { "start": 23, "end": 27, "rotation_type": "quaternion" }, "right_arm_joint_pos": { "start": 27, "end": 34 }, "right_hand": { "start": 34, "end": 40 } }, "action": { "left_arm_eef_pos": { "start": 0, "end": 3, "absolute": false }, "left_arm_eef_rot": { "start": 3, "end": 6, "absolute": false, "rotation_type": "axis_angle" }, "left_hand": { "start": 6, "end": 12 }, "right_arm_eef_pos": { "start": 12, "end": 15, "absolute": false }, "right_arm_eef_rot": { "start": 15, "end": 18, "absolute": false, "rotation_type": "axis_angle" }, "right_hand": { "start": 18, "end": 24 } }, "video": { "right_wrist_view": { "original_key": "observation.images.right_wrist_view" }, "left_wrist_view": { "original_key": "observation.images.left_wrist_view" }, "ego_view": { "original_key": "observation.images.ego_view" } }, "annotation": { "human.action.task_description": {}, "human.validity": {} } }