{
    "state": {
        "shoulder_pan.pos": {"start": 0, "end": 1},
        "shoulder_lift.pos": {"start": 1, "end": 2},
        "elbow_flex.pos": {"start": 2, "end": 3},
        "wrist_flex.pos": {"start": 3, "end": 4},
        "wrist_roll.pos": {"start": 4, "end": 5},
        "gripper.pos": {"start": 5, "end": 6}
    },
    "action": {
        "shoulder_pan.pos": {"start": 0, "end": 1},
        "shoulder_lift.pos": {"start": 1, "end": 2},
        "elbow_flex.pos": {"start": 2, "end": 3},
        "wrist_flex.pos": {"start": 3, "end": 4},
        "wrist_roll.pos": {"start": 4, "end": 5},
        "gripper.pos": {"start": 5, "end": 6}
    },
    "video": {
        "primary_image": {"original_key": "observation.images.front"},
        "wrist_image": {"original_key": "observation.images.wrist"}
    },
    "annotation": {
        "human.action.task_description": {"original_key": "task_index"}
    }
}