{
    "state": {
        "left_arm": {"start": 0, "end": 7},
        "right_arm": {"start": 7, "end": 14},
        "left_gripper": {"start": 14, "end": 15},
        "right_gripper": {"start": 15, "end": 16},
        "waist": {"start": 16, "end": 17}
    },
    "action": {
        "left_arm": {"start": 0, "end": 7},
        "right_arm": {"start": 7, "end": 14},
        "left_gripper": {"start": 14, "end": 15},
        "right_gripper": {"start": 15, "end": 16},
        "waist": {"start": 16, "end": 17}
    },
    "video": {
        "cam_left_high": {"original_key": "observation.images.cam_left_high"},
        "cam_left_wrist": {"original_key": "observation.images.cam_left_wrist"},
        "cam_right_wrist": {"original_key": "observation.images.cam_right_wrist"}
    },
    "annotation": {
        "human.task_description": {"original_key": "task_index"}
    }
}