{ "state": { "left_arm_pose": { "start": 0, "end": 7, "original_key": "observation.state.left_arm_cartesian" }, "left_arm_gripper": { "start": 7, "end": 8, "original_key": "observation.state.left_arm_cartesian" }, "right_arm_pose": { "start": 0, "end": 7, "original_key": "observation.state.right_arm_cartesian" }, "right_arm_gripper": { "start": 7, "end": 8, "original_key": "observation.state.right_arm_cartesian" } }, "action": { "left_arm_pose": { "start": 0, "end": 7, "original_key": "action.cartesian_absolute" }, "left_arm_gripper": { "start": 7, "end": 8, "original_key": "action.cartesian_absolute" }, "right_arm_pose": { "start": 8, "end": 15, "original_key": "action.cartesian_absolute" }, "right_arm_gripper": { "start": 15, "end": 16, "original_key": "action.cartesian_absolute" } }, "video": { "endoscope": { "original_key": "observation.images.color" }, "wrist_left": { "original_key": "observation.images.wrist_left" }, "wrist_right": { "original_key": "observation.images.wrist_right" } }, "annotation": { "task": { "original_key": "task_index" } } }