Update README.md

README.md

@@ -49,15 +49,16 @@ The videos below show three examples of the tasks:
 * action modality: 34D which includes joint states for the two arms, gripper joints, pan and tilt joints, torso joint, and front and back wheels.
 * observation modalities
   * observation.state: 13D 
-  * observation.image.world__world_camera:
-  * observation.image.external_camera:
-  * observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera:
-  * observation.image.world__robot__left_arm_camera_color_frame__left_hand_camera:
-  * observation.image.world__robot__camera_link__head_camera:
-  * 
-
-[Insert Modality and Format Classification]
-
+  * observation.image.world__world_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
+  * observation.image.external_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
+  * observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
+  * observation.image.world__robot__left_arm_camera_color_frame__left_hand_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
+  * observation.image.world__robot__camera_link__head_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
+
+The videos below illustrate the different camera modalities for a single trajectory. 
+![rgb](./assets/episode_000057.gif)
+![depth](./assets/episode_000057_depth.gif)
+![segmentation](./assets/episode_000057_semantic.gif)
 
 ## Dataset Quantification
 Record Count: