{
  "state": {
    "arm_qpos": {
      "start": 0,
      "end": 7
    },
    "gripper_qpos": {
      "start": 7,
      "end": 8
    }
  },
  "action": {
    "arm_qpos_target": {
      "start": 0,
      "end": 7
    },
    "gripper_target": {
      "start": 7,
      "end": 8
    }
  },
  "video": {
    "corner": {
      "original_key": "observation.images.corner"
    },
    "front": {
      "original_key": "observation.images.front"
    },
    "wrist": {
      "original_key": "observation.images.wrist"
    }
  },
  "annotation": {
    "annotation.human.task_description": {}
  }
}