meta/modality.json

{
  "state": {
    "base": {
      "start": 0,
      "end": 3
    },
    "torso": {
      "start": 3,
      "end": 4
    },
    "left_arm": {
      "start": 4,
      "end": 11
    },
    "right_arm": {
      "start": 11,
      "end": 18
    },
    "left_hand": {
      "start": 18,
      "end": 19
    },
    "left_gripper_qpos": {
      "start": 18,
      "end": 19
    },
    "right_hand": {
      "start": 19,
      "end": 20
    },
    "right_gripper_qpos": {
      "start": 19,
      "end": 20
    },
    "left_arm_eef_pos": {
      "start": 20,
      "end": 23
    },
    "left_arm_eef_quat": {
      "start": 23,
      "end": 27,
      "rotation_type": "quaternion"
    },
    "right_arm_eef_pos": {
      "start": 27,
      "end": 30
    },
    "right_arm_eef_quat": {
      "start": 30,
      "end": 34,
      "rotation_type": "quaternion"
    }
  },
  "action": {
    "base": {
      "start": 0,
      "end": 3
    },
    "torso": {
      "start": 3,
      "end": 4
    },
    "left_arm_eef_pos": {
      "start": 4,
      "end": 7
    },
    "left_arm_eef_rot": {
      "start": 7,
      "end": 10
    },
    "right_arm_eef_pos": {
      "start": 10,
      "end": 13
    },
    "right_arm_eef_rot": {
      "start": 13,
      "end": 16
    },
    "left_gripper_close": {
      "start": 16,
      "end": 17
    },
    "right_gripper_close": {
      "start": 17,
      "end": 18
    }
  },
  "video": {
    "cam_robot_0:agentview_center_rgb": {
      "original_key": "observation.images.cam_robot_0:agentview_center_rgb"
    },
    "cam_robot_0:agentview_left_rgb": {
      "original_key": "observation.images.cam_robot_0:agentview_left_rgb"
    },
    "cam_robot_0:agentview_right_rgb": {
      "original_key": "observation.images.cam_robot_0:agentview_right_rgb"
    }
  },
  "annotation": {
    "human.action.task_description": {},
    "human.validity": {}
  }
}