meta/action_layout.json

{
  "total_dim": 23,
  "segments": [
    {
      "name": "manipulator",
      "start": 0,
      "stop": 7,
      "width": 7,
      "ctrl_type": "OSCPoseAbsoluteQuatController"
    },
    {
      "name": "gripper",
      "start": 7,
      "stop": 23,
      "width": 16,
      "ctrl_type": "JointPositionController"
    }
  ]
}