states:
  - observation.state.arm.position:
      origin_keys:
        - observation.state:
            start: 0
            end: 6
        - observation.state:
            start: 7
            end: 13

  - observation.state.effector.position: 
      origin_keys:
        - observation.state:
            start: 6
            end: 7
        - observation.state:
            start: 13
            end: 14

actions:
  - action.arm.position: 
      origin_keys:
          - action:
              start: 0
              end: 6
          - action:
              start: 7
              end: 13
      subtract_state: False

  - action.effector.position: 
      origin_keys:
          - action:
              start: 6
              end: 7
          - action:
              start: 13
              end: 14
      subtract_state: False
  
images:
  - observation.images.camera_top: 
      origin_keys:  observation.images.cam_high
  - observation.images.camera_wrist_left: 
      origin_keys: observation.images.cam_left_wrist
  - observation.images.camera_wrist_right: 
      origin_keys: observation.images.cam_right_wrist