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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/agilex_3rgb.py
+118
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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"]},
},
},
}