{
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    "left_eef_position": {
      "start": 0,
      "end": 3,
      "dtype": "float32",
      "absolute": true,
      "original_key": "action"
    },
    "left_eef_orientation_quat": {
      "start": 3,
      "end": 7,
      "dtype": "float32",
      "absolute": true,
      "original_key": "action",
      "rotation_type": "quaternion"
    },
    "left_gripper": {
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      "end": 8,
      "dtype": "float32",
      "absolute": true,
      "original_key": "action"
    },
    "right_eef_position": {
      "start": 8,
      "end": 11,
      "dtype": "float32",
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      "original_key": "action"
    },
    "right_eef_orientation_quat": {
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      "end": 15,
      "dtype": "float32",
      "absolute": true,
      "original_key": "action",
      "rotation_type": "quaternion"
    },
    "right_gripper": {
      "start": 15,
      "end": 16,
      "dtype": "float32",
      "absolute": true,
      "original_key": "action"
    }
  },
  "state": {
    "left_eef_position": {
      "start": 0,
      "end": 3,
      "dtype": "float32",
      "absolute": true,
      "original_key": "observation.state"
    },
    "left_eef_orientation_quat": {
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      "end": 7,
      "dtype": "float32",
      "absolute": true,
      "original_key": "observation.state",
      "rotation_type": "quaternion"
    },
    "left_gripper": {
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      "end": 8,
      "dtype": "float32",
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      "original_key": "observation.state"
    },
    "right_eef_position": {
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      "end": 11,
      "dtype": "float32",
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      "original_key": "observation.state"
    },
    "right_eef_orientation_quat": {
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      "end": 15,
      "dtype": "float32",
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      "original_key": "observation.state",
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    },
    "right_gripper": {
      "start": 15,
      "end": 16,
      "dtype": "float32",
      "absolute": true,
      "original_key": "observation.state"
    }
  },
  "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.action.task_description": {
      "original_key": "task_index"
    }
  }
}