{
  "video": {
    "global": {
      "original_key": "observation.images.global"
    },
    "hand": {
      "original_key": "observation.images.hand"
    }
  },
  "state": {
    "joints": {
      "original_key": "observation.state",
      "start": 0,
      "end": 6,
      "absolute": true,
      "dtype": "float32"
    },
    "gripper": {
      "original_key": "observation.state",
      "start": 6,
      "end": 7,
      "absolute": true,
      "dtype": "float32",
      "range": [
        0.0,
        1.0
      ]
    }
  },
  "action": {
    "joints": {
      "original_key": "action",
      "start": 0,
      "end": 6,
      "absolute": true,
      "dtype": "float32"
    },
    "gripper": {
      "original_key": "action",
      "start": 6,
      "end": 7,
      "absolute": true,
      "dtype": "float32",
      "range": [
        0.0,
        1.0
      ]
    }
  },
  "annotation": {
    "human.action.task_description": {
      "original_key": "task_index"
    }
  }
}