{ "state": { "robot_state": { "start": 0, "end": 28, "original_key": "observation.state" } }, "action": { "x": { "start": 0, "end": 1, "original_key": "action" }, "y": { "start": 1, "end": 2, "original_key": "action" }, "z": { "start": 2, "end": 3, "original_key": "action" }, "roll": { "start": 3, "end": 4, "original_key": "action" }, "pitch": { "start": 4, "end": 5, "original_key": "action" }, "yaw": { "start": 5, "end": 6, "original_key": "action" }, "gripper": { "start": 6, "end": 7, "original_key": "action" } }, "video": { "primary_image": { "original_key": "observation.images.external_camera" }, "wrist_image": { "original_key": "observation.images.right_wrist_camera" } }, "annotation": { "human.action.task_description": { "original_key": "task_index" } } }