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📝 update libero state & action notation (#71)

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This commit is contained in:
Qizhi Chen
2025-10-29 16:51:15 +08:00
committed by GitHub
parent e2db7df495
commit 940120d7ed
2 changed files with 15 additions and 4 deletions
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libero2lerobot/libero_utils/config.py
+3 -3
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@@ -12,12 +12,12 @@ LIBERO_FEATURES = {
"observation.state": {
"dtype": "float32",
"shape": (8,),
"names": {"motors": ["x", "y", "z", "roll", "pitch", "yaw", "gripper", "gripper"]},
"names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper", "gripper"]},
},
"observation.states.ee_state": {
"dtype": "float32",
"shape": (6,),
"names": {"motors": ["x", "y", "z", "roll", "pitch", "yaw"]},
"names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3"]},
},
"observation.states.joint_state": {
"dtype": "float32",
@@ -32,6 +32,6 @@ LIBERO_FEATURES = {
"action": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["x", "y", "z", "roll", "pitch", "yaw", "gripper"]},
"names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper"]},
},
}