{ "state": { "arm_joint_positions": { "start": 0, "end": 6 }, "gripper_position": { "start": 6, "end": 7 } }, "action": { "arm_joint_positions": { "start": 0, "end": 6 }, "gripper": { "start": 6, "end": 7 } }, "video": { "zed_high_right_left": { "original_key": "observation.images.zed_high_right_left" }, "zed_high_right_right": { "original_key": "observation.images.zed_high_right_right" }, "zed_high_left_left": { "original_key": "observation.images.zed_high_left_left" }, "zed_high_left_right": { "original_key": "observation.images.zed_high_left_right" }, "zed_gripper_left": { "original_key": "observation.images.zed_gripper_left" }, "zed_gripper_right": { "original_key": "observation.images.zed_gripper_right" }, "zed_low_left_left": { "original_key": "observation.images.zed_low_left_left" }, "zed_low_left_right": { "original_key": "observation.images.zed_low_left_right" } }, "annotation": { "human.action.task_description": { "original_key": "annotation.human.action.task_description" } } }