{
  "state": {"left_arm":{"start":0,"end":6},"left_gripper":{"start":6,"end":7},"right_arm":{"start":7,"end":13},"right_gripper":{"start":13,"end":14}},
  "action": {"left_arm":{"start":0,"end":6},"left_gripper":{"start":6,"end":7},"right_arm":{"start":7,"end":13},"right_gripper":{"start":13,"end":14}},
  "video": {"cam_high":{"original_key":"observation.images.cam_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"}}
}