meta/modality.json

{
  "state": {
    "left_arm": {
      "start": 0,
      "end": 7
    },
    "right_arm": {
      "start": 7,
      "end": 14
    },
    "left_hand": {
      "start": 14,
      "end": 20
    },
    "right_hand": {
      "start": 20,
      "end": 26
    },
    "velocity_left_arm": {
      "start": 26,
      "end": 33
    },
    "velocity_right_arm": {
      "start": 33,
      "end": 40
    },
    "velocity_left_hand": {
      "start": 40,
      "end": 46
    },
    "velocity_right_hand": {
      "start": 46,
      "end": 52
    },
    "effort_left_arm": {
      "start": 52,
      "end": 59
    },
    "effort_right_arm": {
      "start": 59,
      "end": 66
    },
    "effort_left_hand": {
      "start": 66,
      "end": 72
    },
    "effort_right_hand": {
      "start": 72,
      "end": 78
    }
  },
  "action": {
    "left_arm": {
      "start": 0,
      "end": 7
    },
    "right_arm": {
      "start": 7,
      "end": 14
    },
    "left_hand": {
      "start": 14,
      "end": 20
    },
    "right_hand": {
      "start": 20,
      "end": 26
    }
  },
  "video": {
    "cam_head": {
      "original_key": "observation.images.color.head"
    },
    "cam_virtual_head": {
      "original_key": "observation.images.color.virtual_head"
    },
    "cam_virtual_leftTD": {
      "original_key": "observation.images.color.virtual_leftTD"
    },
    "cam_virtual_rightTD": {
      "original_key": "observation.images.color.virtual_rightTD"
    },
    "cam_virtual_leftBU": {
      "original_key": "observation.images.color.virtual_leftBU"
    },
    "cam_virtual_rightBU": {
      "original_key": "observation.images.color.virtual_rightBU"
    }
  },
  "annotation": {
    "human.task_description": {
      "original_key": "task_index"
    }
  }
}