Upload modality_human_hand.py with huggingface_hub

modality_human_hand.py

@@ -0,0 +1,42 @@
+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,
+)
+
+human_hand_config = {
+    "video": ModalityConfig(
+        delta_indices=[0],
+        modality_keys=["top"],
+    ),
+    "state": ModalityConfig(
+        delta_indices=[0],
+        modality_keys=["gripper"],  # single_arm removed — MediaPipe coords don't map to robot EEF
+    ),
+    "action": ModalityConfig(
+        delta_indices=list(range(0, 16)),
+        modality_keys=["single_arm", "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,
+            ),
+        ],
+    ),
+    "language": ModalityConfig(
+        delta_indices=[0],
+        modality_keys=["annotation.human.task_description"],
+    ),
+}
+
+register_modality_config(human_hand_config, embodiment_tag=EmbodimentTag.NEW_EMBODIMENT)