{
  "state": {
    "left_arm_position": {
      "start": 0,
      "end": 7
    },
    "left_gripper_position": {
      "start": 7,
      "end": 8
    },
    "left_arm_external_joint_torque": {
      "start": 8,
      "end": 15
    },
    "left_arm_external_wrench": {
      "start": 15,
      "end": 21
    },
    "right_arm_position": {
      "start": 21,
      "end": 28
    },
    "right_gripper_position": {
      "start": 28,
      "end": 29
    },
    "right_arm_external_joint_torque": {
      "start": 29,
      "end": 36
    },
    "right_arm_external_wrench": {
      "start": 36,
      "end": 42
    }
  },
  "action": {
    "left_arm_position": {
      "start": 0,
      "end": 7
    },
    "left_gripper_position": {
      "start": 7,
      "end": 8
    },
    "right_arm_position": {
      "start": 8,
      "end": 15
    },
    "right_gripper_position": {
      "start": 15,
      "end": 16
    },
    "spine_target_height": {
      "start": 16,
      "end": 17
    }
  },
  "video": {
    "head": {
      "original_key": "observation.images.head"
    },
    "wrist_left": {
      "original_key": "observation.images.wrist_left"
    },
    "wrist_right": {
      "original_key": "observation.images.wrist_right"
    }
  },
  "annotation": {
    "human.action.task_description": {
      "original_key": "task_index"
    },
    "human.validity": {}
  }
}