meta/modality.json

{
  "state": {
    "x": {
      "start": 0,
      "end": 1,
      "original_key": "state"
    },
    "y": {
      "start": 1,
      "end": 2,
      "original_key": "state"
    },
    "z": {
      "start": 2,
      "end": 3,
      "original_key": "state"
    },
    "roll": {
      "start": 3,
      "end": 4,
      "original_key": "state"
    },
    "pitch": {
      "start": 4,
      "end": 5,
      "original_key": "state"
    },
    "yaw": {
      "start": 5,
      "end": 6,
      "original_key": "state"
    },
    "pad": {
      "start": 6,
      "end": 7,
      "original_key": "state"
    },
    "gripper": {
      "start": 7,
      "end": 8,
      "original_key": "state"
    },
    "target_pose_rot6d": {
      "start": 0,
      "end": 6,
      "original_key": "state.target_pose_rot6d"
    },
    "target_pose_trans": {
      "start": 0,
      "end": 3,
      "original_key": "state.target_pose_trans"
    },
    "static_cam_rot6d": {
      "start": 0,
      "end": 6,
      "original_key": "state.static_cam_rot6d"
    },
    "static_cam_trans": {
      "start": 0,
      "end": 3,
      "original_key": "state.static_cam_trans"
    }
  },
  "action": {
    "x": {
      "start": 0,
      "end": 1,
      "original_key": "actions"
    },
    "y": {
      "start": 1,
      "end": 2,
      "original_key": "actions"
    },
    "z": {
      "start": 2,
      "end": 3,
      "original_key": "actions"
    },
    "roll": {
      "start": 3,
      "end": 4,
      "original_key": "actions"
    },
    "pitch": {
      "start": 4,
      "end": 5,
      "original_key": "actions"
    },
    "yaw": {
      "start": 5,
      "end": 6,
      "original_key": "actions"
    },
    "gripper": {
      "start": 6,
      "end": 7,
      "original_key": "actions"
    }
  },
  "video": {
    "primary_image": {
      "original_key": "image"
    },
    "wrist_image": {
      "original_key": "wrist_image"
    }
  },
  "annotation": {
    "human.action.task_description": {
      "original_key": "task_index"
    }
  }
}