mirror of
https://github.com/Tavish9/any4lerobot.git
synced 2026-05-24 02:09:40 +00:00
Qizhi Chen
103 lines
3.1 KiB
Python
103 lines
3.1 KiB
Python
Tien_Kung_Xsens_1RGB_Config = {
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"images": {
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"camera_top": {
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"dtype": "video",
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"shape": (480, 640, 3),
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"names": ["height", "width", "rgb"],
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},
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"camera_top_depth": {
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"dtype": "image",
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"shape": (480, 640, 1),
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"names": ["height", "width", "channel"],
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},
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},
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"states": {
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"end_effector": {
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"dtype": "float32",
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"shape": (12,),
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"names": {
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"motors": [
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"left_little_finger",
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"left_ring_finger",
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"left_middle_finger",
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"left_index_finger",
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"left_thumb0_for_bending",
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"left_thumb1_for_rotation",
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"right_little_finger",
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"right_ring_finger",
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"right_middle_finger",
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"right_index_finger",
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"right_thumb0_for_bending",
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"right_thumb1_for_rotation",
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]
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},
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},
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"joint_position": {
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"dtype": "float32",
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"shape": (14,),
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"names": {
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"motors": [
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"left_arm_0",
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"left_arm_1",
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"left_arm_2",
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"left_arm_3",
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"left_arm_4",
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"left_arm_5",
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"left_arm_6",
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"right_arm_0",
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"right_arm_1",
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"right_arm_2",
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"right_arm_3",
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"right_arm_4",
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"right_arm_5",
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"right_arm_6",
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]
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},
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},
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},
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"actions": {
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"end_effector": {
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"dtype": "float32",
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"shape": (12,),
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"names": {
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"motors": [
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"left_little_finger",
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"left_ring_finger",
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"left_middle_finger",
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"left_index_finger",
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"left_thumb0_for_bending",
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"left_thumb1_for_rotation",
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"right_little_finger",
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"right_ring_finger",
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"right_middle_finger",
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"right_index_finger",
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"right_thumb0_for_bending",
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"right_thumb1_for_rotation",
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]
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},
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},
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"joint_position": {
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"dtype": "float32",
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"shape": (14,),
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"names": {
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"motors": [
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"left_arm_0",
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"left_arm_1",
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"left_arm_2",
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"left_arm_3",
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"left_arm_4",
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"left_arm_5",
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"left_arm_6",
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"right_arm_0",
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"right_arm_1",
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"right_arm_2",
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"right_arm_3",
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"right_arm_4",
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"right_arm_5",
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"right_arm_6",
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]
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},
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},
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},
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}
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