{
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    "left_rotation": {"start": 3, "end": 7, "dtype": "float32", "absolute": true, "rotation_type": "quaternion", "original_key": "observation.state"},
    "left_gripper": {"start": 7, "end": 8, "dtype": "float32", "absolute": true, "original_key": "observation.state"},
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    "right_gripper": {"start": 15, "end": 16, "dtype": "float32", "absolute": true, "original_key": "observation.state"}
  },
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    "right_gripper": {"start": 15, "end": 16, "dtype": "float32", "absolute": true, "original_key": "action"}
  },
  "video": {
    "cam_high": {"original_key": "observation.images.cam_high"},
    "cam_left_wrist": {"original_key": "observation.images.cam_left_wrist"},
    "cam_right_wrist": {"original_key": "observation.images.cam_right_wrist"}
  },
  "annotation": {
    "human.action.task_description": {"original_key": "task_index"}
  }
}