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{
    "state": {
        "left_arm": {
            "original_key": "observation.state.left_arm",
            "start": 0,
            "end": 6
        },
        "right_arm": {
            "original_key": "observation.state.right_arm",
            "start": 0,
            "end": 6
        },
        "left_gripper": {
            "original_key": "observation.state.left_gripper",
            "start": 0,
            "end": 1
        },
        "right_gripper": {
            "original_key": "observation.state.right_gripper",
            "start": 0,
            "end": 1
        },
        "left_ee_pose": {
            "original_key": "observation.state.left_ee_pose_9d",
            "start": 0,
            "end": 9
        },
        "right_ee_pose": {
            "original_key": "observation.state.right_ee_pose_9d",
            "start": 0,
            "end": 9
        }
    },
    "action": {
        "left_gripper": {
            "original_key": "action.left_gripper",
            "start": 0,
            "end": 1
        },
        "right_gripper": {
            "original_key": "action.right_gripper",
            "start": 0,
            "end": 1
        },
        "left_arm": {
            "original_key": "observation.state.left_ee_pose_9d",
            "start": 0,
            "end": 9
        },
        "right_arm": {
            "original_key": "observation.state.right_ee_pose_9d",
            "start": 0,
            "end": 9
        },
        "left_ee_pose": {
            "original_key": "action.left_ee_pose_9d",
            "start": 0,
            "end": 9
        },
        "right_ee_pose": {
            "original_key": "action.right_ee_pose_9d",
            "start": 0,
            "end": 9
        }
    },
    "video": {
        "observation.images.head_rgb": {
            "original_key": "observation.images.head_rgb"
        },
        "observation.images.left_wrist_rgb": {
            "original_key": "observation.images.left_wrist_rgb"
        },
        "observation.images.right_wrist_rgb": {
            "original_key": "observation.images.right_wrist_rgb"
        }
    },
    "annotation": {
        "human.task_description": {
            "original_key": "annotation.human.task_description"
        }
    }
}