meta/data_config.py

# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from abc import ABC, abstractmethod

from gr00t.data.dataset import ModalityConfig
from gr00t.data.transform.base import ComposedModalityTransform, ModalityTransform
from gr00t.data.transform.concat import ConcatTransform
from gr00t.data.transform.state_action import StateActionToTensor, StateActionTransform
from gr00t.data.transform.video import (
    VideoColorJitter,
    VideoCrop,
    VideoResize,
    VideoToNumpy,
    VideoToTensor,
)
from gr00t.model.transforms import GR00TTransform


class BaseDataConfig(ABC):
    @abstractmethod
    def modality_config(self) -> dict[str, ModalityConfig]:
        pass

    @abstractmethod
    def transform(self) -> ModalityTransform:
        pass


###########################################################################################


class Gr1ArmsOnlyDataConfig(BaseDataConfig):
    video_keys = ["video.ego_view"]
    state_keys = [
        "state.left_arm",
        "state.right_arm",
        "state.left_hand",
        "state.right_hand",
    ]
    action_keys = [
        "action.left_arm",
        "action.right_arm",
        "action.left_hand",
        "action.right_hand",
    ]
    language_keys = ["annotation.human.action.task_description"]
    observation_indices = [0]
    action_indices = list(range(16))

    def modality_config(self) -> dict[str, ModalityConfig]:
        video_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.video_keys,
        )

        state_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.state_keys,
        )

        action_modality = ModalityConfig(
            delta_indices=self.action_indices,
            modality_keys=self.action_keys,
        )

        language_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.language_keys,
        )

        modality_configs = {
            "video": video_modality,
            "state": state_modality,
            "action": action_modality,
            "language": language_modality,
        }

        return modality_configs

    def transform(self) -> ModalityTransform:
        transforms = [
            # video transforms
            VideoToTensor(apply_to=self.video_keys),
            VideoCrop(apply_to=self.video_keys, scale=0.95),
            VideoResize(apply_to=self.video_keys, height=224, width=224, interpolation="linear"),
            VideoColorJitter(
                apply_to=self.video_keys,
                brightness=0.3,
                contrast=0.4,
                saturation=0.5,
                hue=0.08,
            ),
            VideoToNumpy(apply_to=self.video_keys),
            # state transforms
            StateActionToTensor(apply_to=self.state_keys),
            StateActionTransform(
                apply_to=self.state_keys,
                normalization_modes={key: "min_max" for key in self.state_keys},
            ),
            # action transforms
            StateActionToTensor(apply_to=self.action_keys),
            StateActionTransform(
                apply_to=self.action_keys,
                normalization_modes={key: "min_max" for key in self.action_keys},
            ),
            # concat transforms
            ConcatTransform(
                video_concat_order=self.video_keys,
                state_concat_order=self.state_keys,
                action_concat_order=self.action_keys,
            ),
            # model-specific transform
            GR00TTransform(
                state_horizon=len(self.observation_indices),
                action_horizon=len(self.action_indices),
                max_state_dim=64,
                max_action_dim=32,
            ),
        ]
        return ComposedModalityTransform(transforms=transforms)


###########################################################################################


class So100DataConfig(BaseDataConfig):
    video_keys = ["video.webcam"]
    state_keys = ["state.single_arm", "state.gripper"]
    action_keys = ["action.single_arm", "action.gripper"]
    language_keys = ["annotation.human.task_description"]
    observation_indices = [0]
    action_indices = list(range(16))

    def modality_config(self) -> dict[str, ModalityConfig]:
        video_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.video_keys,
        )

        state_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.state_keys,
        )

        action_modality = ModalityConfig(
            delta_indices=self.action_indices,
            modality_keys=self.action_keys,
        )

        language_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.language_keys,
        )

        modality_configs = {
            "video": video_modality,
            "state": state_modality,
            "action": action_modality,
            "language": language_modality,
        }

        return modality_configs

    def transform(self) -> ModalityTransform:
        transforms = [
            # video transforms
            VideoToTensor(apply_to=self.video_keys),
            VideoCrop(apply_to=self.video_keys, scale=0.95),
            VideoResize(apply_to=self.video_keys, height=224, width=224, interpolation="linear"),
            VideoColorJitter(
                apply_to=self.video_keys,
                brightness=0.3,
                contrast=0.4,
                saturation=0.5,
                hue=0.08,
            ),
            VideoToNumpy(apply_to=self.video_keys),
            # state transforms
            StateActionToTensor(apply_to=self.state_keys),
            StateActionTransform(
                apply_to=self.state_keys,
                normalization_modes={key: "min_max" for key in self.state_keys},
            ),
            # action transforms
            StateActionToTensor(apply_to=self.action_keys),
            StateActionTransform(
                apply_to=self.action_keys,
                normalization_modes={key: "min_max" for key in self.action_keys},
            ),
            # concat transforms
            ConcatTransform(
                video_concat_order=self.video_keys,
                state_concat_order=self.state_keys,
                action_concat_order=self.action_keys,
            ),
            # model-specific transform
            GR00TTransform(
                state_horizon=len(self.observation_indices),
                action_horizon=len(self.action_indices),
                max_state_dim=64,
                max_action_dim=32,
            ),
        ]
        return ComposedModalityTransform(transforms=transforms)


###########################################################################################


class Gr1FullUpperBodyDataConfig(BaseDataConfig):
    video_keys = ["video.front_view"]
    state_keys = [
        "state.left_arm",
        "state.right_arm",
        "state.left_hand",
        "state.right_hand",
        "state.waist",
        "state.neck",
    ]
    action_keys = [
        "action.left_arm",
        "action.right_arm",
        "action.left_hand",
        "action.right_hand",
        "action.waist",
        "action.neck",
    ]
    language_keys = ["annotation.human.action.task_description"]
    observation_indices = [0]
    action_indices = list(range(16))

    def modality_config(self):
        video_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.video_keys,
        )
        state_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.state_keys,
        )
        action_modality = ModalityConfig(
            delta_indices=self.action_indices,
            modality_keys=self.action_keys,
        )
        language_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.language_keys,
        )
        modality_configs = {
            "video": video_modality,
            "state": state_modality,
            "action": action_modality,
            "language": language_modality,
        }
        return modality_configs

    def transform(self):
        transforms = [
            # video transforms
            VideoToTensor(apply_to=self.video_keys),
            VideoCrop(apply_to=self.video_keys, scale=0.95),
            VideoResize(apply_to=self.video_keys, height=224, width=224, interpolation="linear"),
            VideoColorJitter(
                apply_to=self.video_keys,
                brightness=0.3,
                contrast=0.4,
                saturation=0.5,
                hue=0.08,
            ),
            VideoToNumpy(apply_to=self.video_keys),
            # state transforms
            StateActionToTensor(apply_to=self.state_keys),
            StateActionTransform(
                apply_to=self.state_keys,
                normalization_modes={
                    "state.left_arm": "min_max",
                    "state.right_arm": "min_max",
                    "state.left_hand": "min_max",
                    "state.right_hand": "min_max",
                    "state.waist": "min_max",
                    "state.neck": "min_max",
                },
            ),
            # action transforms
            StateActionToTensor(apply_to=self.action_keys),
            StateActionTransform(
                apply_to=self.action_keys,
                normalization_modes={
                    "action.right_arm": "min_max",
                    "action.left_arm": "min_max",
                    "action.right_hand": "min_max",
                    "action.left_hand": "min_max",
                    "action.waist": "min_max",
                    "action.neck": "min_max",
                },
            ),
            # concat transforms
            ConcatTransform(
                video_concat_order=self.video_keys,
                state_concat_order=self.state_keys,
                action_concat_order=self.action_keys,
            ),
            GR00TTransform(
                state_horizon=len(self.observation_indices),
                action_horizon=len(self.action_indices),
                max_state_dim=64,
                max_action_dim=32,
            ),
        ]

        return ComposedModalityTransform(transforms=transforms)


###########################################################################################


class BimanualPandaGripperDataConfig(BaseDataConfig):
    video_keys = [
        "video.right_wrist_view",
        "video.left_wrist_view",
        "video.front_view",
    ]
    state_keys = [
        "state.right_arm_eef_pos",
        "state.right_arm_eef_quat",
        "state.right_gripper_qpos",
        "state.left_arm_eef_pos",
        "state.left_arm_eef_quat",
        "state.left_gripper_qpos",
    ]
    action_keys = [
        "action.right_arm_eef_pos",
        "action.right_arm_eef_rot",
        "action.right_gripper_close",
        "action.left_arm_eef_pos",
        "action.left_arm_eef_rot",
        "action.left_gripper_close",
    ]

    language_keys = ["annotation.human.action.task_description"]
    observation_indices = [0]
    action_indices = list(range(16))

    def modality_config(self):
        video_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.video_keys,
        )
        state_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.state_keys,
        )
        action_modality = ModalityConfig(
            delta_indices=self.action_indices,
            modality_keys=self.action_keys,
        )
        language_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.language_keys,
        )
        modality_configs = {
            "video": video_modality,
            "state": state_modality,
            "action": action_modality,
            "language": language_modality,
        }
        return modality_configs

    def transform(self):
        transforms = [
            # video transforms
            VideoToTensor(apply_to=self.video_keys),
            VideoCrop(apply_to=self.video_keys, scale=0.95),
            VideoResize(apply_to=self.video_keys, height=224, width=224, interpolation="linear"),
            VideoColorJitter(
                apply_to=self.video_keys,
                brightness=0.3,
                contrast=0.4,
                saturation=0.5,
                hue=0.08,
            ),
            VideoToNumpy(apply_to=self.video_keys),
            # state transforms
            StateActionToTensor(apply_to=self.state_keys),
            StateActionTransform(
                apply_to=self.state_keys,
                normalization_modes={
                    "state.right_arm_eef_pos": "min_max",
                    "state.right_gripper_qpos": "min_max",
                    "state.left_arm_eef_pos": "min_max",
                    "state.left_gripper_qpos": "min_max",
                },
                target_rotations={
                    "state.right_arm_eef_quat": "rotation_6d",
                    "state.left_arm_eef_quat": "rotation_6d",
                },
            ),
            # action transforms
            StateActionToTensor(apply_to=self.action_keys),
            StateActionTransform(
                apply_to=self.action_keys,
                normalization_modes={
                    "action.right_gripper_close": "binary",
                    "action.left_gripper_close": "binary",
                },
            ),
            # concat transforms
            ConcatTransform(
                video_concat_order=self.video_keys,
                state_concat_order=self.state_keys,
                action_concat_order=self.action_keys,
            ),
            GR00TTransform(
                state_horizon=len(self.observation_indices),
                action_horizon=len(self.action_indices),
                max_state_dim=64,
                max_action_dim=32,
            ),
        ]

        return ComposedModalityTransform(transforms=transforms)


###########################################################################################


class BimanualPandaHandDataConfig(BaseDataConfig):
    video_keys = [
        "video.right_wrist_view",
        "video.left_wrist_view",
        "video.ego_view",
    ]
    state_keys = [
        "state.right_arm_eef_pos",
        "state.right_arm_eef_quat",
        "state.right_hand",
        "state.left_arm_eef_pos",
        "state.left_arm_eef_quat",
        "state.left_hand",
    ]
    action_keys = [
        "action.right_arm_eef_pos",
        "action.right_arm_eef_rot",
        "action.right_hand",
        "action.left_arm_eef_pos",
        "action.left_arm_eef_rot",
        "action.left_hand",
    ]
    language_keys = ["annotation.human.action.task_description"]
    observation_indices = [0]
    action_indices = list(range(16))

    def modality_config(self):
        video_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.video_keys,
        )
        state_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.state_keys,
        )
        action_modality = ModalityConfig(
            delta_indices=self.action_indices,
            modality_keys=self.action_keys,
        )
        language_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.language_keys,
        )
        modality_configs = {
            "video": video_modality,
            "state": state_modality,
            "action": action_modality,
            "language": language_modality,
        }
        return modality_configs

    def transform(self):
        transforms = [
            # video transforms
            VideoToTensor(apply_to=self.video_keys),
            VideoCrop(apply_to=self.video_keys, scale=0.95),
            VideoResize(apply_to=self.video_keys, height=224, width=224, interpolation="linear"),
            VideoColorJitter(
                apply_to=self.video_keys,
                brightness=0.3,
                contrast=0.4,
                saturation=0.5,
                hue=0.08,
            ),
            VideoToNumpy(apply_to=self.video_keys),
            # state transforms
            StateActionToTensor(apply_to=self.state_keys),
            StateActionTransform(
                apply_to=self.state_keys,
                normalization_modes={
                    "state.right_arm_eef_pos": "min_max",
                    "state.right_hand": "min_max",
                    "state.left_arm_eef_pos": "min_max",
                    "state.left_hand": "min_max",
                },
                target_rotations={
                    "state.right_arm_eef_quat": "rotation_6d",
                    "state.left_arm_eef_quat": "rotation_6d",
                },
            ),
            # action transforms
            StateActionToTensor(apply_to=self.action_keys),
            StateActionTransform(
                apply_to=self.action_keys,
                normalization_modes={
                    "action.right_hand": "min_max",
                    "action.left_hand": "min_max",
                },
            ),
            # concat transforms
            ConcatTransform(
                video_concat_order=self.video_keys,
                state_concat_order=self.state_keys,
                action_concat_order=self.action_keys,
            ),
            GR00TTransform(
                state_horizon=len(self.observation_indices),
                action_horizon=len(self.action_indices),
                max_state_dim=64,
                max_action_dim=32,
            ),
        ]

        return ComposedModalityTransform(transforms=transforms)


###########################################################################################


class SinglePandaGripperDataConfig(BaseDataConfig):
    video_keys = [
        "video.left_view",
        "video.right_view",
        "video.wrist_view",
    ]
    state_keys = [
        "state.end_effector_position_relative",
        "state.end_effector_rotation_relative",
        "state.gripper_qpos",
        "state.base_position",
        "state.base_rotation",
    ]
    action_keys = [
        "action.end_effector_position",
        "action.end_effector_rotation",
        "action.gripper_close",
        "action.base_motion",
        "action.control_mode",
    ]

    language_keys = ["annotation.human.action.task_description"]
    observation_indices = [0]
    action_indices = list(range(16))

    def modality_config(self):
        video_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.video_keys,
        )
        state_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.state_keys,
        )
        action_modality = ModalityConfig(
            delta_indices=self.action_indices,
            modality_keys=self.action_keys,
        )
        language_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.language_keys,
        )
        modality_configs = {
            "video": video_modality,
            "state": state_modality,
            "action": action_modality,
            "language": language_modality,
        }
        return modality_configs

    def transform(self):
        transforms = [
            # video transforms
            VideoToTensor(apply_to=self.video_keys),
            VideoCrop(apply_to=self.video_keys, scale=0.95),
            VideoResize(apply_to=self.video_keys, height=224, width=224, interpolation="linear"),
            VideoColorJitter(
                apply_to=self.video_keys,
                brightness=0.3,
                contrast=0.4,
                saturation=0.5,
                hue=0.08,
            ),
            VideoToNumpy(apply_to=self.video_keys),
            # state transforms
            StateActionToTensor(apply_to=self.state_keys),
            StateActionTransform(
                apply_to=self.state_keys,
                normalization_modes={
                    "state.end_effector_position_relative": "min_max",
                    "state.end_effector_rotation_relative": "min_max",
                    "state.gripper_qpos": "min_max",
                    "state.base_position": "min_max",
                    "state.base_rotation": "min_max",
                },
                target_rotations={
                    "state.end_effector_rotation_relative": "rotation_6d",
                    "state.base_rotation": "rotation_6d",
                },
            ),
            # action transforms
            StateActionToTensor(apply_to=self.action_keys),
            StateActionTransform(
                apply_to=self.action_keys,
                normalization_modes={
                    "action.end_effector_position": "min_max",
                    "action.end_effector_rotation": "min_max",
                    "action.gripper_close": "binary",
                    "action.base_motion": "min_max",
                    "action.control_mode": "binary",
                },
            ),
            # concat transforms
            ConcatTransform(
                video_concat_order=self.video_keys,
                state_concat_order=self.state_keys,
                action_concat_order=self.action_keys,
            ),
            GR00TTransform(
                state_horizon=len(self.observation_indices),
                action_horizon=len(self.action_indices),
                max_state_dim=64,
                max_action_dim=32,
            ),
        ]

        return ComposedModalityTransform(transforms=transforms)


###########################################################################################


class Gr1ArmsWaistDataConfig(Gr1ArmsOnlyDataConfig):
    video_keys = ["video.ego_view"]
    state_keys = [
        "state.left_arm",
        "state.right_arm",
        "state.left_hand",
        "state.right_hand",
        "state.waist",
    ]
    action_keys = [
        "action.left_arm",
        "action.right_arm",
        "action.left_hand",
        "action.right_hand",
        "action.waist",
    ]
    language_keys = ["annotation.human.coarse_action"]
    observation_indices = [0]
    action_indices = list(range(16))

    def modality_config(self):
        return super().modality_config()

    def transform(self):
        return super().transform()


###########################################################################################
class LekiwiDataConfig(BaseDataConfig):
    video_keys = ["video.wrist", "video.front"]
    state_keys = ["state.shoulder_pan", "state.shoulder_lift", "state.elbow_flex", "state.wrist_flex", "state.wrist_roll", "state.gripper", "state.left_wheel", "state.back_wheel", "state.right_wheel"]
    action_keys = ["action.shoulder_pan", "action.shoulder_lift", "action.elbow_flex", "action.wrist_flex", "action.wrist_roll", "action.gripper", "action.left_wheel", "action.back_wheel", "action.right_wheel"]
    language_keys = ["annotation.human.task_description"]
    observation_indices = [0]
    action_indices = list(range(16))

    def modality_config(self) -> dict[str, ModalityConfig]:
        video_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.video_keys,
        )

        state_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.state_keys,
        )

        action_modality = ModalityConfig(
            delta_indices=self.action_indices,
            modality_keys=self.action_keys,
        )

        language_modality = ModalityConfig(
            delta_indices=self.observation_indices,
            modality_keys=self.language_keys,
        )

        modality_configs = {
            "video": video_modality,
            "state": state_modality,
            "action": action_modality,
            "language": language_modality,
        }

        return modality_configs

    def transform(self) -> ModalityTransform:
        transforms = [
            # video transforms
            VideoToTensor(apply_to=self.video_keys),
            VideoCrop(apply_to=self.video_keys, scale=0.95),
            VideoResize(apply_to=self.video_keys, height=224, width=224, interpolation="linear"),
            VideoColorJitter(
                apply_to=self.video_keys,
                brightness=0.3,
                contrast=0.4,
                saturation=0.5,
                hue=0.08,
            ),
            VideoToNumpy(apply_to=self.video_keys),
            # state transforms
            StateActionToTensor(apply_to=self.state_keys),
            StateActionTransform(
                apply_to=self.state_keys,
                normalization_modes={key: "min_max" for key in self.state_keys},
            ),
            # action transforms
            StateActionToTensor(apply_to=self.action_keys),
            StateActionTransform(
                apply_to=self.action_keys,
                normalization_modes={key: "min_max" for key in self.action_keys},
            ),
            # concat transforms
            ConcatTransform(
                video_concat_order=self.video_keys,
                state_concat_order=self.state_keys,
                action_concat_order=self.action_keys,
            ),
            # model-specific transform
            GR00TTransform(
                state_horizon=len(self.observation_indices),
                action_horizon=len(self.action_indices),
                max_state_dim=64,
                max_action_dim=32,
            ),
        ]
        return ComposedModalityTransform(transforms=transforms)


DATA_CONFIG_MAP = {
    "gr1_arms_waist": Gr1ArmsWaistDataConfig(),
    "gr1_arms_only": Gr1ArmsOnlyDataConfig(),
    "gr1_full_upper_body": Gr1FullUpperBodyDataConfig(),
    "bimanual_panda_gripper": BimanualPandaGripperDataConfig(),
    "bimanual_panda_hand": BimanualPandaHandDataConfig(),
    "single_panda_gripper": SinglePandaGripperDataConfig(),
    "so100": So100DataConfig(),
    "lekiwi": LekiwiDataConfig()
}