meta/modality.json

{
  "state": {
    "single_arm": { "start": 0, "end": 5 },
    "gripper": { "start": 5, "end": 6 }
  },
  "action": {
    "single_arm": { "start": 0, "end": 5 },
    "gripper": { "start": 5, "end": 6 }
  },
  "video": {
    "ego_view": {
      "original_key": "observation.images.front"
    },
    "wrist_view": {
      "original_key": "observation.images.handeye"
    }
  },
  "annotation": {
    "human.action.task_description": {
      "original_key": "task_index"
    }
  }
}