{ "state": { "single_arm": { "start": 0, "end": 6 }, "force_torque": { "start": 6, "end": 12 }, "gripper": { "start": 12, "end": 13 } }, "action": { "single_arm": { "start": 0, "end": 6 }, "gripper": { "start": 6, "end": 7 } }, "video": { "front": { "original_key": "observation.images.front" } }, "annotation": { "human.task_description": { "original_key": "task_index" } } }