{
    "action": {
        "left_joints": {
            "start": 0,
            "end": 6,
            "original_key": "action.joints"
        },
        "right_joints": {
            "start": 6,
            "end": 12,
            "original_key": "action.joints"
        },
        "left_gripper": {
            "start": 0,
            "end": 2,
            "original_key": "action.gripper"
        },
        "right_gripper": {
            "start": 2,
            "end": 4,
            "original_key": "action.gripper"
        },
        "base_delta": {
            "start": 0,
            "end": 3,
            "original_key": "action.base_delta"
        }
    },
    "state": {
        "left_joints": {
            "start": 0,
            "end": 6,
            "original_key": "state.joints"
        },
        "right_joints": {
            "start": 6,
            "end": 12,
            "original_key": "state.joints"
        },
        "left_gripper": {
            "start": 0,
            "end": 2,
            "original_key": "state.gripper"
        },
        "right_gripper": {
            "start": 2,
            "end": 4,
            "original_key": "state.gripper"
        },
        "base": {
            "start": 0,
            "end": 3,
            "original_key": "state.base"
        }
    },
    "video": {
        "cam_high": {
            "original_key": "video.top_camera_view"
        },
        "cam_left_wrist": {
            "original_key": "video.left_camera_view"
        },
        "cam_right_wrist": {
            "original_key": "video.right_camera_view"
        }
    },
    "annotation": {
        "human.action.task_description": {
            "original_key": "task_index"
        }
    }
}