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modality_config/ffw_sg2_rev1_arms_config.py

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+# Copy of Isaac-GR00T/examples/CYCLO/ffw_sg2_rev1/ffw_sg2_rev1_config.py with the
+# action space reduced to the two arms (+grippers). The put-blocks-in-bowl
+# recordings carry no leader head/lift topics and cmd_vel only in half the
+# episodes, so the dataset was converted with selected_action_topics =
+# [leader_arm_left, leader_arm_right] (16-D action). State stays 22-D.
+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,
+)
+
+_ACTION_KEYS = ["arm_left", "arm_right"]
+
+ffw_sg2_rev1_arms_config = {
+    "video": ModalityConfig(
+        delta_indices=[0],
+        modality_keys=["cam_left_head", "cam_left_wrist", "cam_right_wrist"],
+    ),
+    "state": ModalityConfig(
+        delta_indices=[0],
+        modality_keys=["arm_left", "arm_right", "head", "lift", "odometry"],
+    ),
+    "action": ModalityConfig(
+        delta_indices=list(range(16)),
+        modality_keys=_ACTION_KEYS,
+        action_configs=[
+            ActionConfig(
+                rep=ActionRepresentation.ABSOLUTE,
+                type=ActionType.NON_EEF,
+                format=ActionFormat.DEFAULT,
+            )
+            for _ in _ACTION_KEYS
+        ],
+    ),
+    "language": ModalityConfig(
+        delta_indices=[0],
+        modality_keys=["annotation.human.primitive_instruction"],
+    ),
+}
+
+register_modality_config(ffw_sg2_rev1_arms_config, embodiment_tag=EmbodimentTag.NEW_EMBODIMENT)

modality_config/modality.json

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+{
+    "state": {
+        "arm_left": {"start": 0, "end": 8},
+        "arm_right": {"start": 8, "end": 16},
+        "head": {"start": 16, "end": 18},
+        "lift": {"start": 18, "end": 19},
+        "odometry": {"start": 19, "end": 22}
+    },
+    "action": {
+        "arm_left": {"start": 0, "end": 8},
+        "arm_right": {"start": 8, "end": 16}
+    },
+    "video": {
+        "cam_left_head": {"original_key": "observation.images.rgb.cam_left_head"},
+        "cam_left_wrist": {"original_key": "observation.images.rgb.cam_left_wrist"},
+        "cam_right_wrist": {"original_key": "observation.images.rgb.cam_right_wrist"}
+    },
+    "annotation": {
+        "human.primitive_instruction": {"original_key": "task_index"}
+    }
+}