We have it in our open-source framework, in case anyone wants to deploy it:

https://github.com/Qbix/AI/blob/6753f6e453908682401f49760002...

https://github.com/Qbix/AI/blob/main/config/observations.jso...

wrote it up here a few months ago: https://community.safebots.ai/t/building-cultural-infrastruc...