examples/PointNav/modality_config.py

from gr00t.configs.data.embodiment_configs import register_modality_config
from gr00t.data.embodiment_tags import EmbodimentTag
from gr00t.data.types import ModalityConfig


point_nav_config = {
    "video": ModalityConfig(
        delta_indices=[0],
        modality_keys=["ego_view"],
    ),
    "state": ModalityConfig(
        delta_indices=[0],
        modality_keys=[
            "speed",
            "route",
            "goal_heading",
        ],
    ),
    "action": ModalityConfig(
        delta_indices=[
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15,
        ],
        modality_keys=[
            "vel_cmd",
        ],
    ),
    "language": ModalityConfig(
        delta_indices=[0],
        modality_keys=["annotation.human.action.task_description"],
    ),
}

register_modality_config(point_nav_config, embodiment_tag=EmbodimentTag.NEW_EMBODIMENT)