# 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)