{ "state": { "single_arm": { "start": 0, "end": 5 }, "gripper": { "start": 5, "end": 6 } }, "action": { "single_arm": { "start": 0, "end": 5 }, "gripper": { "start": 5, "end": 6 } }, "video": { "overhead": { "original_key": "observation.images.overhead" }, "front": { "original_key": "observation.images.front" } }, "annotation": { "human.task_description": { "original_key": "task_index" } } }