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any4lerobot/agibot2lerobot/agibot_utils/config.py
T
Qizhi Chen fe558f7adb add support for agibot2lerobot (#15) 
Co-authored-by: ModiShi <modishi@buaa.edu.cn>
Co-authored-by: aopolin-lv <aopolin.ii@gmail.com>
Co-authored-by: HaomingSong <haomingsong24@gmail.com>
2025-04-14 20:01:09 +08:00

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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",
],
},
}
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