{
    "state": {
        "joint_pos": {
            "start": 0,
            "end": 5
        },
        "pwm": {
            "start": 5,
            "end": 13
        },
        "joint_v": {
            "start": 13,
            "end": 18
        },
        "dvl_v": {
            "start": 18,
            "end": 21
        },
        "imu_av": {
            "start": 21,
            "end": 24
        },
        "imu_la": {
            "start": 24,
            "end": 27
        },
        "pressure": {
            "start": 27,
            "end": 28
        },
        "dvl_h": {
            "start": 28,
            "end": 29
        }
    },
    "action": {
        "joint_pos": {
            "start": 0,
            "end": 5
        },
        "pwm": {
            "start": 5,
            "end": 13
        }
    },
    
    "target_pos": {
        "target_pos": {
            "start": 0,
            "end": 6
        }
    },
    "video": {
        "ego": {
            "original_key": "observation.images.ego"
        },
        "wrist": {
            "original_key": "observation.images.wrist"
        }
    },
    "annotation": {
        "human.action.task_description": {
            "original_key": "task_index"
        }
    }
}