# Self-contained R1Lite data config.
_target_: g05.data.mixture_lerobot_dataset.MixtureLerobotDataset
use_weight_normalization: true
use_weight_for_sampling: false
action_size: 32
past_action_size: 0
obs_size: 1
obs_stride_second: 0.0
val_set_proportion: 1e-4
is_training_set: true
processors:
  galaxea_r1lite:
    shape_meta:
      action:
      - key: left_arm
        lerobot_key: action.left_arm
        start_index: 0
        raw_shape: 6
        shape: 6
        time_offset: 0
      - key: left_gripper
        lerobot_key: action.left_gripper
        start_index: 0
        raw_shape: 1
        shape: 1
        time_offset: 0
      - key: right_arm
        lerobot_key: action.right_arm
        start_index: 0
        raw_shape: 6
        shape: 6
        time_offset: 0
      - key: right_gripper
        lerobot_key: action.right_gripper
        start_index: 0
        raw_shape: 1
        shape: 1
        time_offset: 0
      state:
      - key: left_arm
        lerobot_key: observation.state.left_arm
        start_index: 0
        raw_shape: 6
        shape: 6
        time_offset: 0
      - key: left_gripper
        lerobot_key: observation.state.left_gripper
        start_index: 0
        raw_shape: 1
        shape: 1
        time_offset: 0
      - key: right_arm
        lerobot_key: observation.state.right_arm
        start_index: 0
        raw_shape: 6
        shape: 6
        time_offset: 0
      - key: right_gripper
        lerobot_key: observation.state.right_gripper
        start_index: 0
        raw_shape: 1
        shape: 1
        time_offset: 0
      images:
      - key: head_rgb
        camera_type: exterior
        lerobot_key: observation.images.head_rgb
        start_index: 0
        raw_shape:
        - 3
        - 720
        - 1280
        shape:
        - 3
        - 224
        - 224
        time_offset: 0
      - key: left_wrist_rgb
        camera_type: wrist_left
        lerobot_key: observation.images.left_wrist_rgb
        start_index: 0
        raw_shape:
        - 3
        - 720
        - 1280
        shape:
        - 3
        - 224
        - 224
        time_offset: 0
      - key: right_wrist_rgb
        camera_type: wrist_right
        lerobot_key: observation.images.right_wrist_rgb
        start_index: 0
        raw_shape:
        - 3
        - 720
        - 1280
        shape:
        - 3
        - 224
        - 224
        time_offset: 0
    action_state_transforms:
    - _target_: g05.data_processor.transforms.relative_action.RelativeJointTransform
      keys:
      - left_arm
      - right_arm
    train_transforms:
      head_rgb: ${oc.load:configs/data/_transforms.yaml,train_head}
      left_wrist_rgb: ${oc.load:configs/data/_transforms.yaml,train_wrist}
      right_wrist_rgb: ${oc.load:configs/data/_transforms.yaml,train_wrist}
    val_transforms:
      head_rgb: ${oc.load:configs/data/_transforms.yaml,val}
      left_wrist_rgb: ${oc.load:configs/data/_transforms.yaml,val}
      right_wrist_rgb: ${oc.load:configs/data/_transforms.yaml,val}
    norm_default_mode: z-score-tail
    norm_exception_mode:
      action:
        left_gripper: q01/q99
        right_gripper: q01/q99
      state:
        left_gripper: q01/q99
        right_gripper: q01/q99
    action_filter:
      _target_: g05.data_processor.processor.galaxea_action_processor.R1LiteJointActionFilter
      velocity_threshold: 0.1
      dim_thresholds:
        left_arm:
        - 0.00756
        - 0.00662
        - 0.0432
        - 0.00732
        - 0.00493
        - 0.00612
        right_arm:
        - 0.0115
        - 0.00717
        - 0.0619
        - 0.012
        - 0.00737
        - 0.00918
    action_state_merger:
      _target_: g05.data_processor.transforms.action_state_merger.PaddingActionMerger
      merge: true
      max_action_shape_meta: ${oc.load:configs/data/parts_meta/gripper_wbc.yaml,parts_meta}
      max_state_shape_meta: ${oc.load:configs/data/parts_meta/gripper_wbc.yaml,parts_meta}
    num_obs_steps: 1
    use_stepwise_action_norm: true
    drop_high_level_prob: 1.0
    use_zh_instruction: false
embodiment_datasets:
  galaxea_r1lite:
    type: g05.data.galaxea_lerobot_dataset.GalaxeaLerobotDataset
    embodiment_type: galaxea_r1lite
    lerobot_ds_version: '3.0'
    shape_meta:
      action:
      - key: left_arm
        lerobot_key: action.left_arm
        start_index: 0
        raw_shape: 6
        shape: 6
        time_offset: 0
      - key: left_gripper
        lerobot_key: action.left_gripper
        start_index: 0
        raw_shape: 1
        shape: 1
        time_offset: 0
      - key: right_arm
        lerobot_key: action.right_arm
        start_index: 0
        raw_shape: 6
        shape: 6
        time_offset: 0
      - key: right_gripper
        lerobot_key: action.right_gripper
        start_index: 0
        raw_shape: 1
        shape: 1
        time_offset: 0
      state:
      - key: left_arm
        lerobot_key: observation.state.left_arm
        start_index: 0
        raw_shape: 6
        shape: 6
        time_offset: 0
      - key: left_gripper
        lerobot_key: observation.state.left_gripper
        start_index: 0
        raw_shape: 1
        shape: 1
        time_offset: 0
      - key: right_arm
        lerobot_key: observation.state.right_arm
        start_index: 0
        raw_shape: 6
        shape: 6
        time_offset: 0
      - key: right_gripper
        lerobot_key: observation.state.right_gripper
        start_index: 0
        raw_shape: 1
        shape: 1
        time_offset: 0
      images:
      - key: head_rgb
        camera_type: exterior
        lerobot_key: observation.images.head_rgb
        start_index: 0
        raw_shape:
        - 3
        - 720
        - 1280
        shape:
        - 3
        - 224
        - 224
        time_offset: 0
      - key: left_wrist_rgb
        camera_type: wrist_left
        lerobot_key: observation.images.left_wrist_rgb
        start_index: 0
        raw_shape:
        - 3
        - 720
        - 1280
        shape:
        - 3
        - 224
        - 224
        time_offset: 0
      - key: right_wrist_rgb
        camera_type: wrist_right
        lerobot_key: observation.images.right_wrist_rgb
        start_index: 0
        raw_shape:
        - 3
        - 720
        - 1280
        shape:
        - 3
        - 224
        - 224
        time_offset: 0
    dataset_groups:
    - weight: 1.0
      dataset_dirs:
      - data/r1lite/task0_lerobot
      - data/r1lite/task1_lerobot
      - data/r1lite/task2_lerobot