{
  "state": {
    "eef_position": {
      "start": 0,
      "end": 3
    },
    "eef_rotation": {
      "start": 3,
      "end": 7,
      "rotation_type": "quaternion"
    },
    "gripper_position": {
      "start": 7,
      "end": 8
    }
  },
  "action": {
    "eef_position_delta": {
      "start": 0,
      "end": 3,
      "absolute": false
    },
    "eef_rotation_delta": {
      "start": 3,
      "end": 6,
      "rotation_type": "axis_angle",
      "absolute": false
    },
    "gripper_position": {
      "start": 6,
      "end": 7
    }
  },
  "video": {
    "wrist": {
      "original_key": "observation.images.wrist"
    },
    "top": {
      "original_key": "observation.images.top"
    }
  },
  "annotation": {
    "human.action.task_description": {
      "original_key": "task_index"
    }
  }
}