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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/franka_fr3_dual_arm.py
+101
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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",
]
},
},
},
}