mirror of
https://github.com/Tavish9/any4lerobot.git
synced 2026-05-23 17:59:41 +00:00
Qizhi Chen
102 lines
3.0 KiB
Python
102 lines
3.0 KiB
Python
Franka_Fr3_Dual_Arm_Config = {
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"images": {
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"camera_front": {
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"dtype": "video",
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"shape": (720, 1280, 3),
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"names": ["height", "width", "rgb"],
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},
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"camera_top": {
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"dtype": "video",
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"shape": (720, 1280, 3),
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"names": ["height", "width", "rgb"],
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},
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"camera_left": {
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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_right": {
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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_front_depth": {
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"dtype": "image",
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"shape": (720, 1280, 1),
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"names": ["height", "width", "channel"],
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},
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"camera_top_depth": {
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"dtype": "image",
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"shape": (720, 1280, 1),
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"names": ["height", "width", "channel"],
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},
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"camera_left_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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"camera_right_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": {"motors": ["left_xyzrpy", "right_xyzrpy"]},
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},
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"joint_position": {
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"dtype": "float32",
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"shape": (16,),
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"names": {
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"motors": [
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"left_joint_0",
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"left_joint_1",
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"left_joint_2",
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"left_joint_3",
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"left_joint_4",
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"left_joint_5",
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"left_joint_6",
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"left_gripper",
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"right_joint_0",
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"right_joint_1",
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"right_joint_2",
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"right_joint_3",
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"right_joint_4",
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"right_joint_5",
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"right_joint_6",
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"right_gripper",
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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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"joint_position": {
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"dtype": "float32",
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"shape": (16,),
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"names": {
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"motors": [
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"left_joint_0",
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"left_joint_1",
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"left_joint_2",
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"left_joint_3",
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"left_joint_4",
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"left_joint_5",
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"left_joint_6",
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"left_gripper",
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"right_joint_0",
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"right_joint_1",
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"right_joint_2",
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"right_joint_3",
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"right_joint_4",
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"right_joint_5",
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"right_joint_6",
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"right_gripper",
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]
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},
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},
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},
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}
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