AgiBotWorld_BETA_GRIPPER_CONFIG = { "images": { "head": { "dtype": "video", "shape": (480, 640, 3), "names": ["height", "width", "rgb"], }, "head_center_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, "head_depth": { "dtype": "image", "shape": (480, 640, 1), "names": ["height", "width", "channel"], }, "head_left_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, "head_right_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, "hand_left": { "dtype": "video", "shape": (480, 640, 3), "names": ["height", "width", "rgb"], }, "hand_right": { "dtype": "video", "shape": (480, 640, 3), "names": ["height", "width", "rgb"], }, "back_left_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, "back_right_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, }, "states": { "effector.position": { "dtype": "float32", "shape": (2,), "names": {"motors": ["left_gripper", "right_gripper"]}, }, "end.orientation": {"dtype": "float32", "shape": (2, 4), "names": {"motors": ["left_xyzw", "right_xyzw"]}}, "end.position": {"dtype": "float32", "shape": (2, 3), "names": {"motors": ["left_xyz", "right_xyz"]}}, "head.position": {"dtype": "float32", "shape": (2,), "names": {"motors": ["yaw", "patch"]}}, "joint.current_value": { "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", ] }, }, "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", ] }, }, "robot.orientation": {"dtype": "float32", "shape": (4,), "names": {"motors": ["x", "y", "z", "w"]}}, "robot.position": {"dtype": "float32", "shape": (3,), "names": {"motors": ["x", "y", "z"]}}, "waist.position": {"dtype": "float32", "shape": (2,), "names": {"motors": ["pitch", "lift"]}}, }, "actions": { "effector.position": { "dtype": "float32", "shape": (2,), "names": {"motors": ["left_gripper", "right_gripper"]}, }, "end.orientation": {"dtype": "float32", "shape": (2, 4), "names": {"motors": ["left_xyzw", "right_xyzw"]}}, "end.position": {"dtype": "float32", "shape": (2, 3), "names": {"motors": ["left_xyz", "right_xyz"]}}, "head.position": {"dtype": "float32", "shape": (2,), "names": {"motors": ["yaw", "patch"]}}, "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", ] }, }, "robot.velocity": {"dtype": "float32", "shape": (2,), "names": {"motors": ["x_vel", "yaw_vel"]}}, "waist.position": {"dtype": "float32", "shape": (2,), "names": {"motors": ["pitch", "lift"]}}, }, } AgiBotWorld_BETA_DEXHAND_CONFIG = { "images": { "head": { "dtype": "video", "shape": (480, 640, 3), "names": ["height", "width", "rgb"], }, "head_center_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, "head_depth": { "dtype": "image", "shape": (480, 640, 1), "names": ["height", "width", "channel"], }, "head_left_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, "head_right_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, "hand_left_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, "hand_right_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, "back_left_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, "back_right_fisheye": { "dtype": "video", "shape": (748, 960, 3), "names": ["height", "width", "rgb"], }, }, "states": { **AgiBotWorld_BETA_GRIPPER_CONFIG["states"], "effector.position": { "dtype": "float32", "shape": (12,), "names": { "motors": [ "left_joint_0", "left_joint_1", "left_joint_2", "left_joint_3", "left_joint_4", "left_joint_5", "right_joint_0", "right_joint_1", "right_joint_2", "right_joint_3", "right_joint_4", "right_joint_5", ] }, }, }, "actions": { **AgiBotWorld_BETA_GRIPPER_CONFIG["actions"], "effector.position": { "dtype": "float32", "shape": (12,), "names": { "motors": [ "left_joint_0", "left_joint_1", "left_joint_2", "left_joint_3", "left_joint_4", "left_joint_5", "right_joint_0", "right_joint_1", "right_joint_2", "right_joint_3", "right_joint_4", "right_joint_5", ] }, }, }, } AgiBotWorld_BETA_TACTILE_CONFIG = { **AgiBotWorld_BETA_GRIPPER_CONFIG, "images": { **AgiBotWorld_BETA_GRIPPER_CONFIG["images"], "left_sensor_1": { "dtype": "video", "shape": (700, 400, 3), "names": ["height", "width", "rgb"], }, "left_sensor_2": { "dtype": "video", "shape": (700, 400, 3), "names": ["height", "width", "rgb"], }, "right_sensor_1": { "dtype": "video", "shape": (700, 400, 3), "names": ["height", "width", "rgb"], }, "right_sensor_2": { "dtype": "video", "shape": (700, 400, 3), "names": ["height", "width", "rgb"], }, }, } # Task statistics coming from https://docs.google.com/spreadsheets/d/1GWMFHYo3UJADS7kkScoJ5ObbQfAFasPuaeC7TJUr1Cc/edit?gid=0#gid=0 AgiBotWorld_TASK_TYPE = { "gripper": { "task_config": AgiBotWorld_BETA_GRIPPER_CONFIG, "task_ids": [], # The remaining are all gripper }, "dexhand": { "task_config": AgiBotWorld_BETA_DEXHAND_CONFIG, "task_ids": [ "task_475", "task_536", "task_547", "task_548", "task_549", "task_554", "task_577", "task_578", "task_591", "task_595", "task_608", "task_620", "task_622", "task_660", "task_679", "task_705", "task_710", "task_727", "task_730", "task_731", "task_749", "task_753", ], }, "tactile": { "task_config": AgiBotWorld_BETA_TACTILE_CONFIG, "task_ids": [ "task_666", "task_675", "task_676", "task_677", "task_694", "task_737", "task_774", ], }, }