{
    "action": {
        "joints": {
            "start": 0,
            "end": 7,
            "original_key": "action.joints"
        },
        "gripper_width": {
            "start": 0,
            "end": 6,
            "original_key": "action.gripper_width"
        },
        "gripper_close": {
            "start": 0,
            "end": 1,
            "original_key": "action.gripper_close"
        },
        "eef_position": {
            "start": 0,
            "end": 3,
            "original_key": "action.eef_position"
        },
        "eef_rotation": {
            "start": 0,
            "end": 3,
            "original_key": "action.eef_rotation"
        },
        "eef_quaternion": {
            "start": 0,
            "end": 4,
            "original_key": "action.eef_quaternion"
        },
        "delta_joints": {
            "start": 0,
            "end": 7,
            "original_key": "action.delta_joints"
        },
        "delta_eef_position": {
            "start": 0,
            "end": 3,
            "original_key": "action.delta_eef_position"
        },
        "delta_eef_rotation": {
            "start": 0,
            "end": 3,
            "original_key": "action.delta_eef_rotation"
        },
        "delta_eef_quaternion": {
            "start": 0,
            "end": 4,
            "original_key": "action.delta_eef_quaternion"
        }
    },
    "state": {
        "joints": {
            "start": 0,
            "end": 7,
            "original_key": "state.joints"
        },
        "gripper_width": {
            "start": 0,
            "end": 6,
            "original_key": "state.gripper_width"
        },
        "joints_velocity": {
            "start": 0,
            "end": 7,
            "original_key": "state.joints_velocity"
        },
        "gripper_velocity": {
            "start": 0,
            "end": 6,
            "original_key": "state.gripper_velocity"
        },
        "eef_position": {
            "start": 0,
            "end": 3,
            "original_key": "state.eef_position"
        },
        "eef_rotation": {
            "start": 0,
            "end": 3,
            "original_key": "state.eef_rotation"
        },
        "eef_quaternion": {
            "start": 0,
            "end": 4,
            "original_key": "state.eef_quaternion"
        }
    },
    "video": {
        "base_view": {
            "original_key": "video.base_view"
        },
        "base_view_2": {
            "original_key": "video.base_view_2"
        },
        "ego_view": {
            "original_key": "video.ego_view"
        }
    },
    "annotation": {
        "human.action.task_description": {
            "original_key": "task_index"
        },
        "tcp_3d_trace": {
            "original_key": "annotation.tcp_3d_trace"
        },
        "base_view.tcp_2d_trace": {
            "original_key": "annotation.base_view.tcp_2d_trace"
        },
        "base_view_2.tcp_2d_trace": {
            "original_key": "annotation.base_view_2.tcp_2d_trace"
        },
        "ego_view.tcp_2d_trace": {
            "original_key": "annotation.ego_view.tcp_2d_trace"
        },
        "pick_obj_uid": {
            "original_key": "annotation.pick_obj_uid"
        },
        "place_obj_uid": {
            "original_key": "annotation.place_obj_uid"
        },
        "base_view.bbox2d_tight": {
            "original_key": "annotation.base_view.bbox2d_tight"
        },
        "base_view.bbox2d_tight_id2labels": {
            "original_key": "annotation.base_view.bbox2d_tight_id2labels"
        },
        "base_view_2.bbox2d_tight": {
            "original_key": "annotation.base_view_2.bbox2d_tight"
        },
        "base_view_2.bbox2d_tight_id2labels": {
            "original_key": "annotation.base_view_2.bbox2d_tight_id2labels"
        },
        "ego_view.bbox2d_tight": {
            "original_key": "annotation.ego_view.bbox2d_tight"
        },
        "ego_view.bbox2d_tight_id2labels": {
            "original_key": "annotation.ego_view.bbox2d_tight_id2labels"
        },
        "base_view.bbox2d_loose": {
            "original_key": "annotation.base_view.bbox2d_loose"
        },
        "base_view_2.bbox2d_loose": {
            "original_key": "annotation.base_view_2.bbox2d_loose"
        },
        "ego_view.bbox2d_loose": {
            "original_key": "annotation.ego_view.bbox2d_loose"
        },
        "base_view.bbox2d_loose_id2labels": {
            "original_key": "annotation.base_view.bbox2d_loose_id2labels"
        },
        "base_view_2.bbox2d_loose_id2labels": {
            "original_key": "annotation.base_view_2.bbox2d_loose_id2labels"
        },
        "ego_view.bbox2d_loose_id2labels": {
            "original_key": "annotation.ego_view.bbox2d_loose_id2labels"
        },
        "bbox3d": {
            "original_key": "annotation.bbox3d"
        },
        "bbox3d_id2labels": {
            "original_key": "annotation.bbox3d_id2labels"
        },
        "rewrite_instructions": {
            "original_key": "annotation.rewrite_instructions"
        }
    }
}