modality.json

{
    "state": {
        "left_arm": {
            "joint_position": {
                "original_key": "joint_position"
            },
            "gripper_position": {
                "original_key": "gripper_position"
            }
        }
    },
    "action": {
        "left_arm": {
            "original_key": "actions"
        }
    },
    "image": {
        "fixed_left": {
            "original_key": "exterior_image_1_left"
        },
        "fixed_right": {
            "original_key": "exterior_image_2_left"
        },
        "wrist_left": {
            "original_key": "wrist_image_left"
        }
    },
    "annotation": {
        "human.coarse_action": {
            "original_key": "task_index"
        }
    }
}