{
  "state": {
    "eef_position": {
      "start": 0,
      "end": 3
    },
    "eef_quaternion_wxyz": {
      "start": 3,
      "end": 7
    },
    "gripper": {
      "start": 7,
      "end": 8
    }
  },
  "action": {
    "eef_position": {
      "start": 0,
      "end": 3
    },
    "eef_quaternion_wxyz": {
      "start": 3,
      "end": 7
    },
    "gripper": {
      "start": 7,
      "end": 8
    }
  },
  "video": {
    "front": {
      "original_key": "observation.images.front"
    },
    "wrist": {
      "original_key": "observation.images.wrist"
    }
  },
  "annotation": {
    "human.action.task_description": {
      "original_key": "annotation.human.action.task_description"
    }
  }
}