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