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add support for robomind2lerobot (#26)

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Co-authored-by: HaomingSong <haomingsong24@gmail.com>
This commit is contained in:
Qizhi Chen
2025-05-12 20:16:13 +08:00
committed by GitHub
parent 37f856f50b
commit 7af65ba23a
16 changed files with 1445 additions and 1 deletions
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robomind2lerobot/robomind_uitls/configs/__init__.py
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from .agilex_3rgb import AgileX_3RGB_Config
from .franka_1rgb import Franka_1RGB_Config
from .franka_3rgb import Franka_3RGB_Config
from .franka_fr3_dual_arm import Franka_Fr3_Dual_Arm_Config
from .tienkung_gello_1rgb import Tien_Kung_Gello_1RGB_Config
from .tienkung_prod1_gello_1rgb import Tien_Kung_Prod1_Gello_1RGB_Config
from .tienkung_xsens_1rgb import Tien_Kung_Xsens_1RGB_Config
from .ur_1rgb import UR_1RGB_Config
ROBOMIND_CONFIG = dict(
agilex_3rgb=AgileX_3RGB_Config,
franka_1rgb=Franka_1RGB_Config,
franka_3rgb=Franka_3RGB_Config,
franka_fr3_dual=Franka_Fr3_Dual_Arm_Config,
sim_franka_3rgb="",
sim_tienkung_1rgb="",
tienkung_gello_1rgb=Tien_Kung_Gello_1RGB_Config,
tienkung_prod1_gello_1rgb=Tien_Kung_Prod1_Gello_1RGB_Config,
tienkung_xsens_1rgb=Tien_Kung_Xsens_1RGB_Config,
ur_1rgb=UR_1RGB_Config,
)
robomind2lerobot/robomind_uitls/configs/agilex_3rgb.py
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AgileX_3RGB_Config = {
"images": {
"camera_front": {
"dtype": "video",
"shape": (480, 640, 3),
"names": ["height", "width", "rgb"],
},
"camera_left_wrist": {
"dtype": "video",
"shape": (480, 640, 3),
"names": ["height", "width", "rgb"],
},
"camera_right_wrist": {
"dtype": "video",
"shape": (480, 640, 3),
"names": ["height", "width", "rgb"],
},
"camera_front_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
"camera_left_wrist_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
"camera_right_wrist_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
},
"states": {
"end_effector_left": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["x", "y", "z", "rx", "ry", "rz", "rw"]},
},
"end_effector_right": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["x", "y", "z", "rx", "ry", "rz", "rw"]},
},
"joint_effort_left": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
"joint_effort_right": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
"joint_position_left": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
"joint_position_right": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
"joint_velocity_left": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
"joint_velocity_right": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
},
"actions": {
"end_effector_left": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["x", "y", "z", "rx", "ry", "rz", "rw"]},
},
"end_effector_right": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["x", "y", "z", "rx", "ry", "rz", "rw"]},
},
"joint_effort_left": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
"joint_effort_right": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
"joint_position_left": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
"joint_position_right": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
"joint_velocity_left": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
"joint_velocity_right": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
},
}
robomind2lerobot/robomind_uitls/configs/franka_1rgb.py
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Franka_1RGB_Config = {
"images": {
"camera_top": {
"dtype": "video",
"shape": (720, 1280, 3),
"names": ["height", "width", "rgb"],
},
"camera_top_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
},
"states": {
"end_effector": {
"dtype": "float32",
"shape": (6,),
"names": {"motors": ["x", "y", "z", "r", "p", "y"]},
},
"joint_position": {
"dtype": "float32",
"shape": (8,),
"names": {
"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper"]
},
},
},
"actions": {
"joint_position": {
"dtype": "float32",
"shape": (8,),
"names": {
"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper"]
},
},
},
}
robomind2lerobot/robomind_uitls/configs/franka_3rgb.py
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Franka_3RGB_Config = {
"images": {
"camera_top": {
"dtype": "video",
"shape": (720, 1280, 3),
"names": ["height", "width", "rgb"],
},
"camera_left": {
"dtype": "video",
"shape": (480, 640, 3),
"names": ["height", "width", "rgb"],
},
"camera_right": {
"dtype": "video",
"shape": (480, 640, 3),
"names": ["height", "width", "rgb"],
},
"camera_top_depth": {
"dtype": "image",
"shape": (720, 1280, 1),
"names": ["height", "width", "channel"],
},
"camera_left_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
"camera_right_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
},
"states": {
"end_effector": {
"dtype": "float32",
"shape": (6,),
"names": {"motors": ["x", "y", "z", "r", "p", "y"]},
},
"joint_position": {
"dtype": "float32",
"shape": (8,),
"names": {
"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper"]
},
},
},
"actions": {
"joint_position": {
"dtype": "float32",
"shape": (8,),
"names": {
"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper"]
},
},
},
}
robomind2lerobot/robomind_uitls/configs/franka_fr3_dual_arm.py
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Franka_Fr3_Dual_Arm_Config = {
"images": {
"camera_front": {
"dtype": "video",
"shape": (720, 1280, 3),
"names": ["height", "width", "rgb"],
},
"camera_top": {
"dtype": "video",
"shape": (720, 1280, 3),
"names": ["height", "width", "rgb"],
},
"camera_left": {
"dtype": "video",
"shape": (480, 640, 3),
"names": ["height", "width", "rgb"],
},
"camera_right": {
"dtype": "video",
"shape": (480, 640, 3),
"names": ["height", "width", "rgb"],
},
"camera_front_depth": {
"dtype": "image",
"shape": (720, 1280, 1),
"names": ["height", "width", "channel"],
},
"camera_top_depth": {
"dtype": "image",
"shape": (720, 1280, 1),
"names": ["height", "width", "channel"],
},
"camera_left_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
"camera_right_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
},
"states": {
"end_effector": {
"dtype": "float32",
"shape": (12,),
"names": {"motors": ["left_xyzrpy", "right_xyzrpy"]},
},
"joint_position": {
"dtype": "float32",
"shape": (16,),
"names": {
"motors": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"left_gripper",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"right_gripper",
]
},
},
},
"actions": {
"joint_position": {
"dtype": "float32",
"shape": (16,),
"names": {
"motors": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"left_gripper",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"right_gripper",
]
},
},
},
}
robomind2lerobot/robomind_uitls/configs/tienkung_gello_1rgb.py
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Tien_Kung_Gello_1RGB_Config = {
"images": {
"camera_top": {
"dtype": "video",
"shape": (480, 640, 3),
"names": ["height", "width", "rgb"],
},
"camera_top_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
},
"states": {
"joint_position": {
"dtype": "float32",
"shape": (16,),
"names": {
"motors": [
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"left hand_closure",
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"right hand closure",
]
},
},
},
"actions": {
"joint_position": {
"dtype": "float32",
"shape": (16,),
"names": {
"motors": [
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"left hand_closure",
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"right hand closure",
]
},
},
},
}
robomind2lerobot/robomind_uitls/configs/tienkung_prod1_gello_1rgb.py
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Tien_Kung_Prod1_Gello_1RGB_Config = {
"images": {
"camera_top": {
"dtype": "video",
"shape": (720, 1280, 3),
"names": ["height", "width", "rgb"],
},
"camera_top_depth": {
"dtype": "image",
"shape": (720, 1280, 1),
"names": ["height", "width", "channel"],
},
},
"states": {
"joint_position": {
"dtype": "float32",
"shape": (16,),
"names": {
"motors": [
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"left hand_closure",
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"right hand closure",
]
},
},
},
"actions": {
"joint_position": {
"dtype": "float32",
"shape": (16,),
"names": {
"motors": [
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"left hand_closure",
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"right hand closure",
]
},
},
},
}
robomind2lerobot/robomind_uitls/configs/tienkung_xsens_1rgb.py
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Tien_Kung_Xsens_1RGB_Config = {
"images": {
"camera_top": {
"dtype": "video",
"shape": (480, 640, 3),
"names": ["height", "width", "rgb"],
},
"camera_top_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
},
"states": {
"end_effector": {
"dtype": "float32",
"shape": (12,),
"names": {
"motors": [
"left_little_finger",
"left_ring_finger",
"left_middle_finger",
"left_index_finger",
"left_thumb0_for_bending",
"left_thumb1_for_rotation",
"right_little_finger",
"right_ring_finger",
"right_middle_finger",
"right_index_finger",
"right_thumb0_for_bending",
"right_thumb1_for_rotation",
]
},
},
"joint_position": {
"dtype": "float32",
"shape": (14,),
"names": {
"motors": [
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
]
},
},
},
"actions": {
"end_effector": {
"dtype": "float32",
"shape": (12,),
"names": {
"motors": [
"left_little_finger",
"left_ring_finger",
"left_middle_finger",
"left_index_finger",
"left_thumb0_for_bending",
"left_thumb1_for_rotation",
"right_little_finger",
"right_ring_finger",
"right_middle_finger",
"right_index_finger",
"right_thumb0_for_bending",
"right_thumb1_for_rotation",
]
},
},
"joint_position": {
"dtype": "float32",
"shape": (14,),
"names": {
"motors": [
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
]
},
},
},
}
robomind2lerobot/robomind_uitls/configs/ur_1rgb.py
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UR_1RGB_Config = {
"images": {
"camera_top": {
"dtype": "video",
"shape": (480, 640, 3),
"names": ["height", "width", "rgb"],
},
"camera_top_depth": {
"dtype": "image",
"shape": (480, 640, 1),
"names": ["height", "width", "channel"],
},
},
"states": {
"end_effector": {
"dtype": "float32",
"shape": (6,),
"names": {"motors": ["x", "y", "z", "r", "p", "y"]},
},
"joint_position": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
},
"actions": {
"joint_position": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "gripper"]},
},
},
}