{
  "action": {
    "eef_pos": {
      "start": 0,
      "end": 3,
      "original_key": "action",
      "absolute": false
    },
    "eef_rot6d": {
      "start": 3,
      "end": 9,
      "original_key": "action",
      "rotation_type": "rotation_6d",
      "absolute": false
    },
    "gripper": {
      "start": 9,
      "end": 10,
      "original_key": "action",
      "absolute": false
    }
  },
  "state": {
    "eef_pos": {
      "start": 0,
      "end": 3,
      "original_key": "observation.state"
    },
    "eef_rot6d": {
      "start": 3,
      "end": 9,
      "original_key": "observation.state",
      "rotation_type": "rotation_6d"
    },
    "gripper": {
      "start": 9,
      "end": 10,
      "original_key": "observation.state"
    }
  },
  "video": {
    "wrist": {
      "original_key": "observation.images.wrist"
    }
  },
  "annotation": {
    "human.action.task_description": {
      "original_key": "task_index"
    }
  }
}