{
    "state": {
        "ee_pos": {
            "start": 0,
            "end": 3
        },
        "ee_rot": {
            "start": 0,
            "end": 3
        },
        "gripper": {
            "start": 0,
            "end": 1
        },
        "joints": {
            "start": 0,
            "end": 7
        }
    },
    "action": {
        "delta_ee_pos": {
            "start": 0,
            "end": 3
        },
        "delta_ee_rot": {
            "start": 0,
            "end": 3
        },
        "gripper": {
            "start": 0,
            "end": 1
        }
    },
    "video": {
        "image_base": {
            "original_key": "video.image_base"
        },
        "image_wrist": {
            "original_key": "video.image_wrist"
        }
    }
}