{
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    },
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    },
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    },
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    },
    "robot0_eef_quat": {
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      "rotation_type": "quaternion"
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    "robot0_gripper_qpos": {
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    },
    "robot0_gripper_qvel": {
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    },
    "robot0_base_pos": {
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      "end": 42
    },
    "robot0_base_quat": {
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      "end": 46,
      "rotation_type": "quaternion"
    },
    "robot0_base_to_eef_pos": {
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    },
    "robot0_base_to_eef_quat": {
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      "end": 53,
      "rotation_type": "quaternion"
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  },
  "action": {
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      "absolute": false
    },
    "right_arm_rotation": {
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      "rotation_type": "axis_angle",
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    },
    "right_gripper": {
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    },
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    },
    "torso_control": {
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    },
    "base_mode_switch": {
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      "end": 12,
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    }
  },
  "video": {
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      "original_key": "robot0_agentview_left_image"
    },
    "ego_view_right": {
      "original_key": "robot0_agentview_right_image"
    },
    "hand_view": {
      "original_key": "robot0_eye_in_hand_image"
    }
  },
  "annotation": {
    "human.action.task_description": {},
    "human.validity": {}
  }
}