meta/modality.json

{
    "state": {
        "arm_joints": {
            "start": 0,
            "end": 7
        }
    },
    "action": {
        "arm_joints": {
            "start": 0,
            "end": 7
        },
        "gripper": {
            "start": 7,
            "end": 8
        }
    },
    "video": {
        "front_cam": {
            "original_key": "observation.images.front_cam"
        },
        "workspace_cam": {
            "original_key": "observation.images.workspace_cam"
        }
    },
    "annotation": {
        "human.task_description": {
            "original_key": "task_index"
        }
    }
}