{
    "state": {
        "left_leg": {
            "start": 0,
            "end": 6
        },
        "right_leg": {
            "start": 6,
            "end": 12
        },
        "waist": {
            "start": 12,
            "end": 15
        },
        "left_arm": {
            "start": 15,
            "end": 22
        },
        "left_hand": {
            "start": 22,
            "end": 28
        },
        "right_arm": {
            "start": 28,
            "end": 35
        },
        "right_hand": {
            "start": 35,
            "end": 42
        },
        "left_wrist_pos": {
            "start": 0,
            "end": 3,
            "original_key": "observation.eef_state"
        },
        "left_wrist_abs_quat": {
            "start": 3,
            "end": 7,
            "original_key": "observation.eef_state",
            "rotation_type": "quaternion"
        },
        "right_wrist_pos": {
            "start": 7,
            "end": 10,
            "original_key": "observation.eef_state"
        },
        "right_wrist_abs_quat": {
            "start": 10,
            "end": 14,
            "original_key": "observation.eef_state",
            "rotation_type": "quaternion"
        },
        "tactile_left": {
            "start": 0,
            "end": 6,
            "original_key": "observation.tactile_left"
        },
        "tactile_right": {
            "start": 0,
            "end": 6,
            "original_key": "observation.tactile_right"
        }
    },
    "action": {
        "left_leg": {
            "start": 0,
            "end": 6
        },
        "right_leg": {
            "start": 6,
            "end": 12
        },
        "waist": {
            "start": 12,
            "end": 15
        },
        "left_arm": {
            "start": 15,
            "end": 22
        },
        "left_hand": {
            "start": 22,
            "end": 28
        },
        "right_arm": {
            "start": 28,
            "end": 35
        },
        "right_hand": {
            "start": 35,
            "end": 42
        },
        "left_wrist_pos": {
            "start": 0,
            "end": 3,
            "original_key": "action.eef"
        },
        "left_wrist_abs_quat": {
            "start": 3,
            "end": 7,
            "original_key": "action.eef",
            "rotation_type": "quaternion"
        },
        "right_wrist_pos": {
            "start": 7,
            "end": 10,
            "original_key": "action.eef"
        },
        "right_wrist_abs_quat": {
            "start": 10,
            "end": 14,
            "original_key": "action.eef",
            "rotation_type": "quaternion"
        },
        "base_height_command": {
            "start": 0,
            "end": 1,
            "original_key": "teleop.base_height_command"
        },
        "navigate_command": {
            "start": 0,
            "end": 3,
            "original_key": "teleop.navigate_command"
        }
    },
    "video": {
        "cam_right_wrist": {
            "original_key": "observation.images.cam_right_wrist"
        },
        "ego_view": {
            "original_key": "observation.images.ego_view"
        }
    },
    "annotation": {
        "human.task_description": {
            "original_key": "task_index"
        }
    }
}