{ "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" } } }