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5e360d7 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 | # GR00T modality config for the RoboLab motion-planning dataset.
from gr00t.configs.data.embodiment_configs import register_modality_config
from gr00t.data.embodiment_tags import EmbodimentTag
from gr00t.data.types import ActionConfig, ActionFormat, ActionRepresentation, ActionType, ModalityConfig
robolab_motionplanning_config = {
"video": ModalityConfig(
delta_indices=[0],
modality_keys=['front', 'wrist'],
),
"state": ModalityConfig(
delta_indices=[0],
modality_keys=["eef_position", "eef_quaternion_wxyz", "gripper"],
),
"action": ModalityConfig(
delta_indices=list(range(0, 16)),
modality_keys=["eef_position", "eef_quaternion_wxyz", "gripper"],
action_configs=[
ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT),
ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT),
ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT),
],
),
"language": ModalityConfig(
delta_indices=[0],
modality_keys=["annotation.human.action.task_description"],
),
}
register_modality_config(robolab_motionplanning_config, embodiment_tag=EmbodimentTag.NEW_EMBODIMENT)
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