STATE_VEC_IDX_MAPPING = {
    # [0, 10): right arm joint positions
    **{
        'arm_joint_{}_pos'.format(i): i for i in range(10)
    },
    **{
        'right_arm_joint_{}_pos'.format(i): i for i in range(10)
    },
    # [10, 15): right gripper joint positions
    **{
        'gripper_joint_{}_pos'.format(i): i + 10 for i in range(5)
    },
    **{
        'right_gripper_joint_{}_pos'.format(i): i + 10 for i in range(5)
    },
    'gripper_open': 10, # alias of right_gripper_joint_0_pos
    'right_gripper_open': 10,
    # [15, 25): right arm joint velocities
    **{
        'arm_joint_{}_vel'.format(i): i + 15 for i in range(10)
    },
    **{
        'right_arm_joint_{}_vel'.format(i): i + 15 for i in range(10)
    },
    # [25, 30): right gripper joint velocities
    **{
        'gripper_joint_{}_vel'.format(i): i + 25 for i in range(5)
    },
    **{
        'right_gripper_joint_{}_vel'.format(i): i + 25 for i in range(5)
    },
    'gripper_open_vel': 25, # alias of right_gripper_joint_0_vel
    'right_gripper_open_vel': 25,
    # [30, 33): right end effector positions
    'eef_pos_x': 30,
    'right_eef_pos_x': 30,
    'eef_pos_y': 31,
    'right_eef_pos_y': 31,
    'eef_pos_z': 32,
    'right_eef_pos_z': 32,
    # [33, 39): right end effector 6D pose
    'eef_angle_0': 33,
    'right_eef_angle_0': 33,
    'eef_angle_1': 34,
    'right_eef_angle_1': 34,
    'eef_angle_2': 35,
    'right_eef_angle_2': 35,
    'eef_angle_3': 36,
    'right_eef_angle_3': 36,
    'eef_angle_4': 37,
    'right_eef_angle_4': 37,
    'eef_angle_5': 38,
    'right_eef_angle_5': 38,
    # [39, 42): right end effector velocities
    'eef_vel_x': 39,
    'right_eef_vel_x': 39,
    'eef_vel_y': 40,
    'right_eef_vel_y': 40,
    'eef_vel_z': 41,
    'right_eef_vel_z': 41,
    # [42, 45): right end effector angular velocities
    'eef_angular_vel_roll': 42,
    'right_eef_angular_vel_roll': 42,
    'eef_angular_vel_pitch': 43,
    'right_eef_angular_vel_pitch': 43,
    'eef_angular_vel_yaw': 44,
    'right_eef_angular_vel_yaw': 44,
    # [45, 50): reserved 
    # [50, 60): left arm joint positions
    **{
        'left_arm_joint_{}_pos'.format(i): i + 50 for i in range(10)
    },
    # [60, 65): left gripper joint positions
    **{
        'left_gripper_joint_{}_pos'.format(i): i + 60 for i in range(5)
    },
    'left_gripper_open': 60, # alias of left_gripper_joint_0_pos
    # [65, 75): left arm joint velocities
    **{
        'left_arm_joint_{}_vel'.format(i): i + 65 for i in range(10)
    },
    # [75, 80): left gripper joint velocities
    **{
        'left_gripper_joint_{}_vel'.format(i): i + 75 for i in range(5)
    },
    'left_gripper_open_vel': 75, # alias of left_gripper_joint_0_vel
    # [80, 83): left end effector positions
    'left_eef_pos_x': 80,
    'left_eef_pos_y': 81,
    'left_eef_pos_z': 82,
    # [83, 89): left end effector 6D pose
    'left_eef_angle_0': 83,
    'left_eef_angle_1': 84,
    'left_eef_angle_2': 85,
    'left_eef_angle_3': 86,
    'left_eef_angle_4': 87,
    'left_eef_angle_5': 88,
    # [89, 92): left end effector velocities
    'left_eef_vel_x': 89,
    'left_eef_vel_y': 90,
    'left_eef_vel_z': 91,
    # [92, 95): left end effector angular velocities
    'left_eef_angular_vel_roll': 92,
    'left_eef_angular_vel_pitch': 93,
    'left_eef_angular_vel_yaw': 94,
    # [95, 100): reserved
    # [100, 102): base linear velocities
    'base_vel_x': 100,
    'base_vel_y': 101,
    # [102, 103): base angular velocities
    'base_angular_vel': 102,
    # [103, 128): reserved
}
STATE_VEC_LEN = 128