meta/modality.json

{
    "state": {
        "left_joint_pos": {
            "original_key": "observation.state",
            "start": 0,
            "end": 7,
            "rotation_type": null,
            "absolute": true,
            "dtype": "float32",
            "range": null
        },
        "left_gripper_pos": {
            "original_key": "observation.state",
            "start": 7,
            "end": 8,
            "rotation_type": null,
            "absolute": true,
            "dtype": "float32",
            "range": null
        },
        "right_joint_pos": {
            "original_key": "observation.state",
            "start": 8,
            "end": 15,
            "rotation_type": null,
            "absolute": true,
            "dtype": "float32",
            "range": null
        },
        "right_gripper_pos": {
            "original_key": "observation.state",
            "start": 15,
            "end": 16,
            "rotation_type": null,
            "absolute": true,
            "dtype": "float32",
            "range": null
        }
    },
    "action": {
        "left_joint_pos": {
            "original_key": "action",
            "start": 0,
            "end": 7,
            "rotation_type": null,
            "absolute": true,
            "dtype": "float32",
            "range": null
        },
        "left_gripper_pos": {
            "original_key": "action",
            "start": 7,
            "end": 8,
            "rotation_type": null,
            "absolute": true,
            "dtype": "float32",
            "range": null
        },
        "right_joint_pos": {
            "original_key": "action",
            "start": 8,
            "end": 15,
            "rotation_type": null,
            "absolute": true,
            "dtype": "float32",
            "range": null
        },
        "right_gripper_pos": {
            "original_key": "action",
            "start": 15,
            "end": 16,
            "rotation_type": null,
            "absolute": true,
            "dtype": "float32",
            "range": null
        }
    },
    "video": {
        "base": {
            "original_key": "observation.images.base"
        },
        "right_wrist": {
            "original_key": "observation.images.right_wrist"
        },
        "left_wrist": {
            "original_key": "observation.images.left_wrist"
        }
    },
    "annotation": {
        "task_index": {
            "original_key": "task_index"
        }
    }
}