{ "state": { "right_eef_9d": { "start": 0, "end": 9 }, "right_gripper": { "start": 9, "end": 10 }, "left_eef_9d": { "start": 10, "end": 19 }, "left_gripper": { "start": 19, "end": 20 }, "camera_pose": { "start": 0, "end": 6, "original_key": "observation.camera0_pose" } }, "action": { "right_eef_9d": { "start": 0, "end": 9 }, "right_gripper": { "start": 9, "end": 10 }, "left_eef_9d": { "start": 10, "end": 19 }, "left_gripper": { "start": 19, "end": 20 } }, "video": { "camera0": { "original_key": "observation.images.camera0" } }, "annotation": { "human.task_description": { "original_key": "task_index" } }, "keypoint": { "keypoint_2d": { "start": 0, "end": 48, "original_key": "observation.keypoint_2d" }, "keypoint_valid": { "start": 0, "end": 3, "original_key": "observation.keypoint_valid" } } }