meta/modality.json

{
    "state": {
        "robot_state": {
            "start": 0,
            "end": 19,
            "original_key": "observation.state",
            "dtype": "float32",
            "absolute": true
        }
    },
    "action": {
        "delta_eef_position": {
            "start": 0,
            "end": 3,
            "original_key": "action",
            "dtype": "float32",
            "absolute": false
        },
        "delta_eef_rotation": {
            "start": 3,
            "end": 6,
            "original_key": "action",
            "dtype": "float32",
            "absolute": false
        },
        "gripper_close": {
            "start": 6,
            "end": 7,
            "original_key": "action",
            "dtype": "float32",
            "absolute": true
        }
    },
    "video": {
        "side_policy": {
            "original_key": "observation.images.side_policy"
        },
        "wrist_2": {
            "original_key": "observation.images.wrist_2"
        }
    },
    "annotation": {
        "human.action.task_description": {
            "original_key": "task_index"
        }
    }
}