{
    "state": {
        "end_effector_position": {
            "original_key": "observation.state",
            "start": 0,
            "end": 3,
            "rotation_type": null,
            "absolute": true,
            "dtype": "float32",
            "range": null
        },
        "end_effector_rotation": {
            "original_key": "observation.state",
            "start": 3,
            "end": 6,
            "rotation_type": "axis_angle",
            "absolute": true,
            "dtype": "float32",
            "range": null
        },
        "gripper_qpos": {
            "original_key": "observation.state",
            "start": 6,
            "end": 8,
            "rotation_type": null,
            "absolute": true,
            "dtype": "float32",
            "range": null
        }
    },
    "action": {
        "end_effector_position": {
            "original_key": "action",
            "start": 0,
            "end": 3,
            "rotation_type": null,
            "absolute": false,
            "dtype": "float32",
            "range": null
        },
        "end_effector_rotation": {
            "original_key": "action",
            "start": 3,
            "end": 6,
            "rotation_type": "axis_angle",
            "absolute": false,
            "dtype": "float32",
            "range": null
        },
        "gripper_close": {
            "original_key": "action",
            "start": 6,
            "end": 7,
            "absolute": true,
            "dtype": "int64",
            "range": [-1, 1]
        }

    },
    "video": {
        "image": {
            "original_key": "observation.images.image"
        },
        "wrist_image": {
            "original_key": "observation.images.wrist_image"
        }
    },
    "annotation": {
        "human.action.task_description": {
            "original_key": "task_index"
        }
    }
}