{ "state": { "joint_pos": { "original_key": "observation.state", "start": 0, "end": 4, "rotation_type": null, "absolute": true, "dtype": "float32", "range": null }, "gripper_pos": { "original_key": "observation.state", "start": 4, "end": 5, "rotation_type": null, "absolute": true, "dtype": "float32", "range": null }, "wrist_roll": { "original_key": "observation.state", "start": 5, "end": 6, "rotation_type": null, "absolute": true, "dtype": "float32", "range": null } }, "action": { "joint_pos": { "original_key": "action", "start": 0, "end": 4, "rotation_type": null, "absolute": true, "dtype": "float32", "range": null }, "gripper_pos": { "original_key": "action", "start": 4, "end": 5, "rotation_type": null, "absolute": true, "dtype": "float32", "range": null }, "wrist_roll": { "original_key": "action", "start": 5, "end": 6, "rotation_type": null, "absolute": true, "dtype": "float32", "range": null } }, "video": { "camera1": { "original_key": "observation.images.camera1" }, "camera2": { "original_key": "observation.images.camera2" } }, "annotation": { "task": { "original_key": "task" } } }