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0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [377]}, "action.effort_right_hand": {"min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [377]}, "action.navigate_command": {"min": [0.0, -0.0, -0.0], "max": [0.0, -0.0, -0.0], "mean": [0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0], "count": [377]}, "action.base_height_command": {"min": [0.7057812213897705], "max": [0.7057812213897705], "mean": [0.7057811617851257], "std": [5.960464477539063e-08], "count": [377]}, "observation.images.ego_view": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39077993668300653]], [[0.3845982434640523]], [[0.3859415951797386]]], "std": [[[0.22140029897994518]], [[0.2108309170911367]], [[0.20774810352067444]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [12.533333333333333], "mean": [6.266666666666667], "std": [3.6276714294434105], "count": [377]}, "frame_index": {"min": [0], "max": [376], "mean": [188.0], "std": [108.83014288330233], "count": [377]}, "episode_index": {"min": [401], "max": [401], "mean": [401.0], "std": [0.0], "count": [377]}, "index": {"min": [171248], "max": [171624], "mean": [171436.0], "std": [108.83014288330233], "count": [377]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [377]}}} diff --git a/meta/info.json b/meta/info.json index 2579b2c92028a168591dd60ea011b6649a6ab84f..61d8f5293abef704c692d58c417c9a502aa6bb92 100644 --- a/meta/info.json +++ b/meta/info.json @@ -32,10 +32,64 @@ "action_from_policy" ] }, - "action.effort": { + "action.effort_left_leg": { "dtype": "float32", "shape": [ - 43 + 6 + ], + "names": [ + "action_from_policy" + ] + }, + "action.effort_right_leg": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "action_from_policy" + ] + }, + "action.effort_waist": { + "dtype": "float32", + "shape": [ + 3 + ], + "names": [ + "action_from_policy" + ] + }, + "action.effort_left_arm": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": [ + "action_from_policy" + ] + }, + "action.effort_right_arm": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": [ + "action_from_policy" + ] + }, + "action.effort_left_hand": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": [ + "action_from_policy" + ] + }, + "action.effort_right_hand": { + "dtype": "float32", + "shape": [ + 7 ], "names": [ "action_from_policy" diff --git a/meta/modality.json b/meta/modality.json index 1ebfe10d5ff55f745121b285a145dd362b31ba9f..c1ece5dd8da9850d0c69966d38c6219981f2f42b 100644 --- a/meta/modality.json +++ b/meta/modality.json @@ -58,6 +58,41 @@ "start": 36, "end": 43 }, + "effort_left_leg": { + "original_key": "action.effort_left_leg", + "start": 0, + "end": 6 + }, + "effort_right_leg": { + "original_key": "action.effort_right_leg", + "start": 0, + "end": 6 + }, + "effort_waist": { + "original_key": "action.effort_waist", + "start": 0, + "end": 3 + }, + "effort_left_arm": { + "original_key": "action.effort_left_arm", + "start": 0, + "end": 7 + }, + "effort_right_arm": { + "original_key": "action.effort_right_arm", + "start": 0, + "end": 7 + }, + "effort_left_hand": { + "original_key": "action.effort_left_hand", + "start": 0, + "end": 7 + }, + "effort_right_hand": { + "original_key": "action.effort_right_hand", + "start": 0, + "end": 7 + }, "navigate_command": { "original_key": "action.navigate_command", "start": 0, diff --git a/new_embodiment_config_defaults.py b/new_embodiment_config_defaults.py new file mode 100644 index 0000000000000000000000000000000000000000..019aac76a6efdb8f4fd5c0c6c05489320299249a --- /dev/null +++ b/new_embodiment_config_defaults.py @@ -0,0 +1,77 @@ +# Auto-generated by mcap-to-lerobot. Re-running the converter regenerates +# this file; copy it to ``new_embodiment_config.py`` before editing. + +from gr00t.configs.data.embodiment_configs import ( + MODALITY_CONFIGS, + register_modality_config, +) +from gr00t.data.embodiment_tags import EmbodimentTag +from gr00t.data.types import ( + ActionConfig, + ActionFormat, + ActionRepresentation, + ActionType, + ModalityConfig, +) + + +config = { + "video": ModalityConfig( + delta_indices=[0], + modality_keys=["ego_view"], + ), + "state": ModalityConfig( + delta_indices=[0], + modality_keys=[ + "left_leg", + "right_leg", + "waist", + "left_arm", + "right_arm", + "left_hand", + "right_hand", + ], + ), + "action": ModalityConfig( + delta_indices=list(range(0, 16)), + modality_keys=[ + "left_arm", + "right_arm", + "left_hand", + "right_hand", + "waist", + "navigate_command", + "base_height_command", + "effort_left_arm", + "effort_right_arm", + "effort_left_hand", + "effort_right_hand", + "effort_waist", + ], + action_configs=[ + ActionConfig(rep=ActionRepresentation.RELATIVE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # left_arm + ActionConfig(rep=ActionRepresentation.RELATIVE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # right_arm + ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # left_hand + ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # right_hand + ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # waist + ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # navigate_command + ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # base_height_command + ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # effort_left_arm + ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # effort_right_arm + ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # effort_left_hand + ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # effort_right_hand + ActionConfig(rep=ActionRepresentation.ABSOLUTE, type=ActionType.NON_EEF, format=ActionFormat.DEFAULT), # effort_waist + ], + ), + "language": ModalityConfig( + delta_indices=[0], + modality_keys=["annotation.human.task_description"], + ), +} + +# ``register_modality_config`` asserts the tag isn't already in +# ``MODALITY_CONFIGS``, so a second import of this file inside the same +# Python process (notebook, stats regen after train, pytest re-runs) +# would crash. Re-binding is safe — the new config wins. +MODALITY_CONFIGS.pop(EmbodimentTag.NEW_EMBODIMENT.value, None) +register_modality_config(config, embodiment_tag=EmbodimentTag.NEW_EMBODIMENT) diff --git a/videos/chunk-000/observation.images.ego_view/episode_000000.mp4 b/videos/chunk-000/observation.images.ego_view/episode_000000.mp4 index ce885e0b79596edf55b5756a2c60baa8435433a6..e890d20676e2cee8ab6f67e940a1ec16acea01e5 100644 --- a/videos/chunk-000/observation.images.ego_view/episode_000000.mp4 +++ b/videos/chunk-000/observation.images.ego_view/episode_000000.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:24b0568157cc9fe10bf4d2b07c6930be6d93d5da6ff2ddaa032eb316856f5827 -size 3109097 +oid sha256:7b5e7359b0b8c4a045203790aa120e9049a854c7df1673d3b903e9b6538de29e +size 3076473 diff --git a/videos/chunk-000/observation.images.ego_view/episode_000001.mp4 b/videos/chunk-000/observation.images.ego_view/episode_000001.mp4 index 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