{
    "state": {
        "left_leg": {
            "start": 0,
            "end": 6,
            "original_key": "observation.state"
        },
        "right_leg": {
            "start": 6,
            "end": 12,
            "original_key": "observation.state"
        },
        "waist": {
            "start": 12,
            "end": 15,
            "original_key": "observation.state"
        },
        "left_arm": {
            "start": 15,
            "end": 22,
            "original_key": "observation.state"
        },
        "left_hand": {
            "start": 22,
            "end": 29,
            "original_key": "observation.state"
        },
        "right_arm": {
            "start": 29,
            "end": 36,
            "original_key": "observation.state"
        },
        "right_hand": {
            "start": 36,
            "end": 43,
            "original_key": "observation.state"
        },
        "left_wrist_pose": {
            "start": 0,
            "end": 7,
            "original_key": "observation.eef_pose"
        },
        "right_wrist_pose": {
            "start": 7,
            "end": 14,
            "original_key": "observation.eef_pose"
        }
    },
    "action": {
        "left_leg": {
            "start": 0,
            "end": 6
        },
        "right_leg": {
            "start": 6,
            "end": 12
        },
        "waist": {
            "start": 12,
            "end": 15
        },
        "left_arm": {
            "start": 15,
            "end": 22
        },
        "left_hand": {
            "start": 22,
            "end": 29
        },
        "right_arm": {
            "start": 29,
            "end": 36
        },
        "right_hand": {
            "start": 36,
            "end": 43
        },
        "left_wrist_pose": {
            "start": 0,
            "end": 7,
            "original_key": "action.eef_pose"
        },
        "right_wrist_pose": {
            "start": 7,
            "end": 14,
            "original_key": "action.eef_pose"
        },
        "base_height_command": {
            "start": 0,
            "end": 1,
            "original_key": "teleop.base_height_command"
        },
        "navigate_command": {
            "start": 0,
            "end": 3,
            "original_key": "teleop.navigate_command"
        },
        "torso_orientation_rpy_command": {
            "start": 0,
            "end": 3,
            "original_key":"teleop.torso_orientation_rpy_command"
        }
    },
    "video": {
        "ego_view": {
            "original_key": "observation.images.ego_view"
        }
    },
    "annotation": {
        "human.task_description": {
            "original_key": "task_index"
        }
    }
}