{ "state": { "joints": { "start": 0, "end": 7, "dtype": "float32", "original_key": "states.joint.position", "absolute": true }, "gripper": { "start": 0, "end": 1, "dtype": "float32", "original_key": "states.gripper.position", "absolute": true } }, "action": { "joints": { "start": 0, "end": 7, "dtype": "float32", "original_key": "actions.joint.position", "absolute": true }, "gripper": { "start": 0, "end": 1, "dtype": "float32", "original_key": "actions.gripper.position", "absolute": true } }, "video": { "overview_0": { "original_key": "images.rgb.head" } }, "annotation": { "human.action.task_description": { "original_key": "task_index" } } }