{ "state": { "eef_9d": { "start": 0, "end": 9 }, "gripper_position": { "start": 9, "end": 10 }, "joint_position": { "start": 10, "end": 17 } }, "action": { "eef_9d": { "start": 0, "end": 9 }, "gripper_position": { "start": 9, "end": 10 }, "joint_position": { "start": 10, "end": 17 } }, "video": { "exterior_1_left": { "original_key": "observation.images.exterior_1_left" }, "wrist_left": { "original_key": "observation.images.wrist_left" } }, "annotation": { "language.language_instruction": { "original_key": "task_index" } } }