{ "state": { "psm1_pose": { "start": 0, "end": 7 }, "psm1_gripper": { "start": 7, "end": 8 }, "psm2_pose": { "start": 8, "end": 15 }, "psm2_gripper": { "start": 15, "end": 16 } }, "action": { "psm1_pose": { "start": 0, "end": 7 }, "psm1_gripper": { "start": 7, "end": 8 }, "psm2_pose": { "start": 8, "end": 15 }, "psm2_gripper": { "start": 15, "end": 16 } }, "video": { "endoscope_left": { "original_key": "observation.images.endoscope_left" } }, "annotation": { "human.task_description": { "original_key": "task_index" } } }