{
    "state": {
        "position": { 
            "start": 0,
            "end": 3 
        },
        "rotation": {
            "start": 3,
            "end": 6,
            "rotation_type": "euler_angles_rpy"
        },
        "gripper": {
            "start": 6,
            "end": 7
        }

    }, 
    "action": { 
        "position": { 
            "start": 0,
            "end": 3 
        },
        "rotation": {
            "start": 3,
            "end": 6,
            "rotation_type": "euler_angles_rpy"
        },
        "gripper": {
            "start": 6,
            "end": 7
        }
    },
    "video": { 
        "image": { 
            "original_key": "observation.images.image" 
        }, 
        "wrist_image": { 
            "original_key": "observation.images.wrist_image"
        }
    }, 
    "annotation": {
        "human.task_description": { "original_key": "task_index" } 
    }
}