{
  "state": {
    "left_joints": {
      "start": 0,
      "end": 7,
      "rotation_type": null,
      "absolute": true,
      "dtype": "float32",
      "range": null,
      "original_key": "observation.state"
    },
    "right_joints": {
      "start": 7,
      "end": 14,
      "rotation_type": null,
      "absolute": true,
      "dtype": "float32",
      "range": null,
      "original_key": "observation.state"
    }
  },
  "action": {
    "left_joints": {
      "start": 0,
      "end": 7,
      "rotation_type": null,
      "absolute": true,
      "dtype": "float32",
      "range": null,
      "original_key": "action"
    },
    "right_joints": {
      "start": 7,
      "end": 14,
      "rotation_type": null,
      "absolute": true,
      "dtype": "float32",
      "range": null,
      "original_key": "action"
    }
  },
  "video": {
    "camera_h": {
      "original_key": "observation.images.camera_h"
    },
    "camera_l": {
      "original_key": "observation.images.camera_l"
    },
    "camera_r": {
      "original_key": "observation.images.camera_r"
    }
  },
  "annotation": {
    "human.action.task_description": {
      "original_key": "task_index"
    }
  }
}