{
    "state": {
        "end_pos":     {"start": 0, "end": 6, "original_key": "observation.states.end.position"},
        "end_rot":     {"start": 0, "end": 8, "rotation_type": "quaternion", "quat_order": "xyzw", "original_key": "observation.states.end.orientation"},
        "gripper":     {"start": 0, "end": 2, "original_key": "observation.states.effector.position"}
    },
    "action": {
        "end_pos":     {"start": 0, "end": 6, "original_key": "actions.end.position"},
        "end_rot":     {"start": 0, "end": 8, "rotation_type": "quaternion", "quat_order": "xyzw", "original_key": "actions.end.orientation"},
        "gripper":     {"start": 0, "end": 2, "original_key": "actions.effector.position"}
    },
    "video": {
        "head":       {"original_key": "observation.images.head"},
        "hand_left":  {"original_key": "observation.images.hand_left"},
        "hand_right": {"original_key": "observation.images.hand_right"}
    },
    "annotation": {
        "human.action.task_description": {"original_key": "task_index"}
    }
}