{ "state": { "arm_left": { "start": 0, "end": 8 }, "arm_right": { "start": 8, "end": 16 }, "head": { "start": 16, "end": 18 }, "lift": { "start": 18, "end": 19 }, "odometry": { "start": 19, "end": 22 } }, "action": { "arm_left": { "start": 0, "end": 8 }, "arm_right": { "start": 8, "end": 16 }, "head": { "start": 16, "end": 18 }, "lift": { "start": 18, "end": 19 }, "odometry": { "start": 19, "end": 22 } }, "video": { "cam_left_head": { "original_key": "observation.images.rgb.cam_left_head" }, "cam_left_wrist": { "original_key": "observation.images.rgb.cam_left_wrist" }, "cam_right_wrist": { "original_key": "observation.images.rgb.cam_right_wrist" } }, "annotation": { "human.primitive_instruction": { "original_key": "task_index" } } }