mirror of
https://github.com/Tavish9/any4lerobot.git
synced 2026-05-22 17:39:39 +00:00
Qizhi Chen
58 lines
1.7 KiB
Python
58 lines
1.7 KiB
Python
Franka_3RGB_Config = {
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"images": {
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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_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": (6,),
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"names": {"motors": ["x", "y", "z", "r", "p", "y"]},
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},
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"joint_position": {
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"dtype": "float32",
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"shape": (8,),
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"names": {
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"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper"]
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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": (8,),
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"names": {
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"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper"]
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},
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},
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},
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}
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