mirror of
https://github.com/Tavish9/any4lerobot.git
synced 2026-05-11 12:09:41 +00:00
Qizhi Chen
38 lines
1.2 KiB
Python
38 lines
1.2 KiB
Python
LIBERO_FEATURES = {
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"observation.images.image": {
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"dtype": "video",
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"shape": (256, 256, 3),
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"names": ["height", "width", "rgb"],
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},
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"observation.images.wrist_image": {
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"dtype": "video",
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"shape": (256, 256, 3),
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"names": ["height", "width", "rgb"],
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},
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"observation.state": {
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"dtype": "float32",
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"shape": (8,),
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"names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper", "gripper"]},
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},
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"observation.states.ee_state": {
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"dtype": "float32",
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"shape": (6,),
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"names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3"]},
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},
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"observation.states.joint_state": {
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"dtype": "float32",
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"shape": (7,),
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"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]},
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},
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"observation.states.gripper_state": {
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"dtype": "float32",
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"shape": (2,),
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"names": {"motors": ["gripper", "gripper"]},
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},
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"action": {
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"dtype": "float32",
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"shape": (7,),
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"names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper"]},
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},
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}
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