meta/modality.json

{
    "state": {
        "shoulder_pan": {
            "start": 0,
            "end": 1
        },
        "shoulder_lift": {
            "start": 1,
            "end": 2
        },
		"elbow_flex": {
            "start": 2,
            "end": 3
        },
        "wrist_flex": {
            "start": 3,
            "end": 4
        },
        "wrist_roll": {
            "start": 4,
            "end": 5
        },
		"gripper": {
            "start": 5,
            "end": 6
        },
        "x_mm": {
            "start": 6,
            "end": 7
        },
        "y_mm": {
            "start": 7,
            "end": 8
        },
		"theta": {
            "start": 8,
            "end": 9
        }
    },
    "action": {
        "shoulder_pan": {
            "start": 0,
            "end": 1
        },
        "shoulder_lift": {
            "start": 1,
            "end": 2
        },
		"elbow_flex": {
            "start": 2,
            "end": 3
        },
        "wrist_flex": {
            "start": 3,
            "end": 4
        },
        "wrist_roll": {
            "start": 4,
            "end": 5
        },
		"gripper": {
            "start": 5,
            "end": 6
        },
        "x_mm": {
            "start": 6,
            "end": 7
        },
        "y_mm": {
            "start": 7,
            "end": 8
        },
		"theta": {
            "start": 8,
            "end": 9
        }
    },
    "video": {
        "wrist": {
            "original_key": "observation.images.wrist"
        },
		"front": {
            "original_key": "observation.images.front"
        }
    },
    "annotation": {
        "human.task_description": {
            "original_key": "task_index"
        }
    }
}