{
    "state": {
        "single_arm": {
            "start": 0,
            "end": 6
        },
        "gripper": {
            "start": 6,
            "end": 7
        }
    },
    "action": {
        "single_arm": {
            "start": 0,
            "end": 6
        },
        "gripper": {
            "start": 6,
            "end": 7
        }
    },
    "video": {
        "gripper": {
            "original_key": "observation.image.cam1_rgb"
        },
        "gripper_depth": {
            "original_key": "observation.image.cam1_depth"
        }
    },
    "annotation": {
        "human.task_description": {
            "original_key": "task_index"
        }
    }
}