{
  "_note": "Action keys in every config are by-name only. This schema deliberately omits the upstream Isaac-GR00T ActionConfig metadata (rep / type / format) attached per action key. Downstream consumers must NOT assume joint-angle semantics for action keys: some keys are learned latents (for example unitree_g1_sonic action.motion_token is a 64-dim SONIC latent decoded by the SONIC controller, not a joint angle). Map and consume action keys by name. See issue strands-labs/robots#211.",
  "configs": {
    "so100": {
      "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": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15
      ]
    },
    "so100_dualcam": {
      "_extends": "so100",
      "video_keys": [
        "video.front",
        "video.wrist"
      ]
    },
    "so100_4cam": {
      "_extends": "so100",
      "video_keys": [
        "video.front",
        "video.wrist",
        "video.top",
        "video.side"
      ]
    },
    "so101": {
      "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": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15
      ]
    },
    "so101_dualcam": {
      "_extends": "so101",
      "video_keys": [
        "video.front",
        "video.wrist"
      ]
    },
    "so101_tricam": {
      "_extends": "so101",
      "video_keys": [
        "video.front",
        "video.wrist",
        "video.side"
      ]
    },
    "fourier_gr1_arms_only": {
      "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": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15
      ]
    },
    "fourier_gr1_arms_waist": {
      "_extends": "fourier_gr1_arms_only",
      "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"
      ]
    },
    "fourier_gr1_full_upper_body": {
      "_extends": "fourier_gr1_arms_only",
      "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"
      ]
    },
    "unitree_g1": {
      "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.task_description"
      ],
      "observation_indices": [
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15
      ]
    },
    "unitree_g1_full_body": {
      "_extends": "unitree_g1",
      "state_keys": [
        "state.left_leg",
        "state.right_leg",
        "state.waist",
        "state.left_arm",
        "state.right_arm",
        "state.left_hand",
        "state.right_hand"
      ],
      "action_keys": [
        "action.left_leg",
        "action.right_leg",
        "action.waist",
        "action.left_arm",
        "action.right_arm",
        "action.left_hand",
        "action.right_hand"
      ]
    },
    "unitree_g1_locomanip": {
      "_extends": "unitree_g1",
      "state_keys": [
        "state.left_leg",
        "state.right_leg",
        "state.waist",
        "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",
        "action.waist",
        "action.base_height_command",
        "action.navigate_command"
      ],
      "language_keys": [
        "annotation.human.task_description"
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        28,
        29
      ]
    },
    "bimanual_panda_gripper": {
      "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": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15
      ]
    },
    "bimanual_panda_hand": {
      "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": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15
      ]
    },
    "single_panda_gripper": {
      "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": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15
      ]
    },
    "oxe_droid": {
      "video_keys": [
        "video.exterior_image_1_left",
        "video.wrist_image_left"
      ],
      "state_keys": [
        "state.joint_position",
        "state.gripper_position"
      ],
      "action_keys": [
        "action.joint_position",
        "action.gripper_position"
      ],
      "language_keys": [
        "annotation.language.language_instruction"
      ],
      "observation_indices": [
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        28,
        29,
        30,
        31
      ]
    },
    "oxe_google": {
      "video_keys": [
        "video.image"
      ],
      "state_keys": [
        "state.x",
        "state.y",
        "state.z",
        "state.rx",
        "state.ry",
        "state.rz",
        "state.rw",
        "state.gripper"
      ],
      "action_keys": [
        "action.x",
        "action.y",
        "action.z",
        "action.roll",
        "action.pitch",
        "action.yaw",
        "action.gripper"
      ],
      "language_keys": [
        "annotation.human.action.task_description"
      ],
      "observation_indices": [
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7
      ]
    },
    "oxe_widowx": {
      "video_keys": [
        "video.image_0"
      ],
      "state_keys": [
        "state.x",
        "state.y",
        "state.z",
        "state.roll",
        "state.pitch",
        "state.yaw",
        "state.pad",
        "state.gripper"
      ],
      "action_keys": [
        "action.x",
        "action.y",
        "action.z",
        "action.roll",
        "action.pitch",
        "action.yaw",
        "action.gripper"
      ],
      "language_keys": [
        "annotation.human.action.task_description"
      ],
      "observation_indices": [
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7
      ]
    },
    "libero_panda": {
      "video_keys": [
        "video.image",
        "video.wrist_image"
      ],
      "state_keys": [
        "state.x",
        "state.y",
        "state.z",
        "state.roll",
        "state.pitch",
        "state.yaw",
        "state.gripper"
      ],
      "action_keys": [
        "action.x",
        "action.y",
        "action.z",
        "action.roll",
        "action.pitch",
        "action.yaw",
        "action.gripper"
      ],
      "language_keys": [
        "annotation.human.action.task_description"
      ],
      "observation_indices": [
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15
      ],
      "image_rotation_180": true
    },
    "agibot_genie1": {
      "video_keys": [
        "video.top_head",
        "video.hand_left",
        "video.hand_right"
      ],
      "state_keys": [
        "state.left_arm_joint_position",
        "state.right_arm_joint_position",
        "state.left_effector_position",
        "state.right_effector_position",
        "state.head_position",
        "state.waist_position"
      ],
      "action_keys": [
        "action.left_arm_joint_position",
        "action.right_arm_joint_position",
        "action.left_effector_position",
        "action.right_effector_position",
        "action.head_position",
        "action.waist_position",
        "action.robot_velocity"
      ],
      "language_keys": [
        "annotation.human.action.task_description"
      ],
      "observation_indices": [
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15
      ],
      "image_rotation_180": true
    },
    "agibot_dual_arm_gripper": {
      "video_keys": [
        "video.head",
        "video.left_hand",
        "video.right_hand"
      ],
      "state_keys": [
        "state.left_arm",
        "state.right_arm",
        "state.left_gripper",
        "state.right_gripper"
      ],
      "action_keys": [
        "action.left_arm",
        "action.right_arm",
        "action.left_gripper",
        "action.right_gripper"
      ],
      "language_keys": [
        "annotation.language.action_text"
      ],
      "observation_indices": [
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        28,
        29
      ]
    },
    "agibot_dual_arm_dexhand": {
      "video_keys": [
        "video.head",
        "video.left_hand",
        "video.right_hand"
      ],
      "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.language.action_text"
      ],
      "observation_indices": [
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        28,
        29
      ]
    },
    "agibot_dual_arm_full": {
      "video_keys": [
        "video.head",
        "video.left_hand",
        "video.right_hand"
      ],
      "state_keys": [
        "state.left_arm",
        "state.right_arm",
        "state.left_gripper",
        "state.right_gripper",
        "state.head",
        "state.waist"
      ],
      "action_keys": [
        "action.left_arm",
        "action.right_arm",
        "action.left_gripper",
        "action.right_gripper",
        "action.head",
        "action.waist",
        "action.base_velocity"
      ],
      "language_keys": [
        "annotation.language.action_text"
      ],
      "observation_indices": [
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        28,
        29
      ]
    },
    "galaxea_r1_pro": {
      "video_keys": [
        "video.head_camera_rgb"
      ],
      "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": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15
      ]
    },
    "unitree_g1_real": {
      "video_keys": [
        "video.ego_view"
      ],
      "state_keys": [
        "state.left_wrist_eef_9d",
        "state.right_wrist_eef_9d",
        "state.left_hand",
        "state.right_hand",
        "state.left_arm",
        "state.right_arm",
        "state.waist"
      ],
      "action_keys": [
        "action.navigate_command",
        "action.base_height_command",
        "action.left_wrist_eef_9d",
        "action.right_wrist_eef_9d",
        "action.left_hand",
        "action.right_hand",
        "action.left_arm",
        "action.right_arm",
        "action.waist"
      ],
      "language_keys": [
        "annotation.human.task_description"
      ],
      "observation_indices": [
        -20,
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        28,
        29,
        30,
        31,
        32,
        33,
        34,
        35,
        36,
        37,
        38,
        39
      ]
    },
    "oxe_droid_relative_eef_relative_joint": {
      "_extends": "oxe_droid"
    },
    "unitree_g1_sonic": {
      "video_keys": [
        "video.ego_view"
      ],
      "state_keys": [
        "state.left_leg",
        "state.right_leg",
        "state.waist",
        "state.left_arm",
        "state.right_arm",
        "state.left_hand",
        "state.right_hand",
        "state.projected_gravity"
      ],
      "action_keys": [
        "action.motion_token",
        "action.left_hand_joints",
        "action.right_hand_joints"
      ],
      "language_keys": [
        "annotation.human.task_description"
      ],
      "observation_indices": [
        0
      ],
      "action_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        28,
        29,
        30,
        31,
        32,
        33,
        34,
        35,
        36,
        37,
        38,
        39
      ]
    }
  },
  "aliases": {
    "agibot_dual_arm": "agibot_dual_arm_gripper",
    "real_g1_relative_eef_relative_joints": "unitree_g1_real",
    "oxe_droid_rel": "oxe_droid_relative_eef_relative_joint"
  }
}
