{
    "state": {
        "arm_left": {"start": 0, "end": 8},
        "arm_right": {"start": 8, "end": 16},
        "head": {"start": 16, "end": 18},
        "lift": {"start": 18, "end": 19},
        "odometry": {"start": 19, "end": 22}
    },
    "action": {
        "arm_left": {"start": 0, "end": 8},
        "arm_right": {"start": 8, "end": 16}
    },
    "video": {
        "cam_left_head": {"original_key": "observation.images.rgb.cam_left_head"},
        "cam_left_wrist": {"original_key": "observation.images.rgb.cam_left_wrist"},
        "cam_right_wrist": {"original_key": "observation.images.rgb.cam_right_wrist"}
    },
    "annotation": {
        "human.primitive_instruction": {"original_key": "task_index"}
    }
}