meta/modality.json

{
    "state": {
        "left_arm": {
            "start": 0,
            "end": 8
        },
        "right_arm": {
            "start": 8,
            "end": 16
        }
    },
    "action": {
        "left_arm": {
            "start": 0,
            "end": 8
        },
        "right_arm": {
            "start": 8,
            "end": 16
        }
    },
    "video": {
        "cam_head": {
            "original_key": "observation.images.cam_head"
        }
    },
    "annotation": {
        "human.task_description": {
            "original_key": "task_index"
        }
    }
}