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modality.json

@@ -0,0 +1,25 @@
+{
+    "state": {
+        "shoulder_pan.pos": {"start": 0, "end": 1},
+        "shoulder_lift.pos": {"start": 1, "end": 2},
+        "elbow_flex.pos": {"start": 2, "end": 3},
+        "wrist_flex.pos": {"start": 3, "end": 4},
+        "wrist_roll.pos": {"start": 4, "end": 5},
+        "gripper.pos": {"start": 5, "end": 6}
+    },
+    "action": {
+        "shoulder_pan.pos": {"start": 0, "end": 1},
+        "shoulder_lift.pos": {"start": 1, "end": 2},
+        "elbow_flex.pos": {"start": 2, "end": 3},
+        "wrist_flex.pos": {"start": 3, "end": 4},
+        "wrist_roll.pos": {"start": 4, "end": 5},
+        "gripper.pos": {"start": 5, "end": 6}
+    },
+    "video": {
+        "primary_image": {"original_key": "observation.images.front"},
+        "wrist_image": {"original_key": "observation.images.wrist"}
+    },
+    "annotation": {
+        "human.action.task_description": {"original_key": "task_index"}
+    }
+}