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+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
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+                "left_wrist_roll_joint",
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+        "env_name": "default",
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+        "keyboard_dispatcher_type": "raw",
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+        "body_control_device": "dummy",
+        "hand_control_device": "dummy",
+        "body_streamer_ip": "10.112.210.229",
+        "body_streamer_keyword": "knee",
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+        "robot_ip": "192.168.123.164",
+        "data_collection": true,
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+        "root_output_dir": "outputs",
+        "enable_upper_body_operation": true,
+        "upper_body_operation_mode": "teleop"
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+        "teleoperator_username": "NEW_USER",
+        "support_operator_username": "NEW_USER",
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+}

meta/modality.json

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meta/tasks.jsonl

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