{ "state": { "cartesian_position": { "start": 0, "end": 6 }, "gripper_position": { "start": 6, "end": 7 }, "joint_position": { "start": 7, "end": 14 } }, "action": { "cartesian_position": { "start": 0, "end": 6 }, "cartesian_velocity": { "start": 6, "end": 12 }, "gripper_position": { "start": 12, "end": 13 }, "gripper_velocity": { "start": 13, "end": 14 }, "joint_position": { "start": 14, "end": 21 }, "joint_velocity": { "start": 21, "end": 28 } }, "video": { "exterior_image_1_left": { "original_key": "observation.images.exterior_image_1_left" }, "exterior_image_2_left": { "original_key": "observation.images.exterior_image_2_left" }, "wrist_image_left": { "original_key": "observation.images.wrist_image_left" } }, "annotation": { "language.language_instruction": {}, "language.language_instruction_2": {}, "language.language_instruction_3": {} } }