Add MicroAGI embodiment and data configs:#496
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- Microagi Human-sibling embodiment with keymaps, transform list,
intrinsics fallback, MediaPipe / MANO keypoint connectivity
-microagi_bimanual / right_arm / left_arm embodiment IDs + hydra data/viz configs
- CONTRIBUTING_DATA.md embodiment table updates
Co-authored-by: Aristotelis-Sib <aristotelis98@gmail.com>
The evaluator/viz configs (keypoints.yaml, keypoints_wrist.yaml) specify image_key as a flat name like 'front_img_1' because they were written for the trainer's EvalVideo path, where HPT flattens dotted batch keys to their last segment before viz. viz_language operates on raw dataloader batches, where the same image is keyed 'observations.images.front_img_1', so those configs raised KeyError on every batch and produced zero videos. Resolve a missing image_key by matching batch keys on their last dotted segment — the inverse of HPT's flattening. Only the image key is resolved (wholesale flattening would collide, e.g. left/right.obs_keypoints), and only when the exact key is absent, so configs using full dotted keys (cotrain_lang.yaml) are unaffected.
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Add MicroAGI embodiment and data configs:
intrinsics fallback, MediaPipe / MANO keypoint connectivity
-microagi_bimanual / right_arm / left_arm embodiment IDs + hydra data/viz configs
Co-authored-by: Aristotelis-Sib aristotelis98@gmail.com
viz_language: resolve short image keys against dotted batch keys
The evaluator/viz configs (keypoints.yaml, keypoints_wrist.yaml) specify
image_key as a flat name like 'front_img_1' because they were written for
the trainer's EvalVideo path, where HPT flattens dotted batch keys to
their last segment before viz. viz_language operates on raw dataloader
batches, where the same image is keyed 'observations.images.front_img_1',
so those configs raised KeyError on every batch and produced zero videos.
Resolve a missing image_key by matching batch keys on their last dotted
segment — the inverse of HPT's flattening. Only the image key is resolved
(wholesale flattening would collide, e.g. left/right.obs_keypoints), and
only when the exact key is absent, so configs using full dotted keys
(cotrain_lang.yaml) are unaffected.