Add files using upload-large-folder tool

meta/modality.json

@@ -1,15 +1,24 @@
 {
     "state": {
-        "arm": {
+        "end_effector_position": {
             "original_key": "observation.state",
             "start": 0,
-            "end": 6,
+            "end": 3,
             "rotation_type": null,
             "absolute": true,
             "dtype": "float32",
             "range": null
         },
-        "hand": {
+        "end_effector_rotation": {
+            "original_key": "observation.state",
+            "start": 3,
+            "end": 6,
+            "rotation_type": "axis_angle",
+            "absolute": true,
+            "dtype": "float32",
+            "range": null
+        },
+        "gripper_qpos": {
             "original_key": "observation.state",
             "start": 6,
             "end": 8,
@@ -20,24 +29,33 @@
         }
     },
     "action": {
-        "arm": {
+        "end_effector_position": {
             "original_key": "action",
             "start": 0,
-            "end": 6,
+            "end": 3,
             "rotation_type": null,
-            "absolute": true,
+            "absolute": false,
             "dtype": "float32",
             "range": null
         },
-        "hand": {
+        "end_effector_rotation": {
+            "original_key": "action",
+            "start": 3,
+            "end": 6,
+            "rotation_type": "axis_angle",
+            "absolute": false,
+            "dtype": "float32",
+            "range": null
+        },
+        "gripper_close": {
             "original_key": "action",
             "start": 6,
             "end": 7,
-            "rotation_type": null,
             "absolute": true,
-            "dtype": "float32",
-            "range": null
+            "dtype": "int64",
+            "range": [-1, 1]
         }
+
     },
     "video": {
         "image": {
@@ -48,7 +66,7 @@
         }
     },
     "annotation": {
-        "human.action.task_index": {
+        "human.action.task_description": {
             "original_key": "task_index"
         }
     }