{ "state": { "eef_position": { "start": 0, "end": 3 }, "eef_orientation": { "start": 3, "end": 9, "rotation_type": "rotation_6d" }, "gripper_state": { "start": 9, "end": 10 } }, "action": { "eef_delta_position": { "start": 0, "end": 3, "absolute": false }, "eef_delta_orientation": { "start": 3, "end": 9, "rotation_type": "rotation_6d" }, "gripper_command": { "start": 9, "end": 10, "dtype": "int64", "range": [0, 1] } }, "video": { "exterior_image_1_left": {}, "wrist_image_left": {} }, "annotation": { "human.action.task_description": {} } }