add convert scripts

2026-05-21 03:30:10 +00:00 · 2025-11-19 16:11:07 +00:00
parent 25ef3c520c
commit 514e3cd83d
5 changed files with 631 additions and 0 deletions
@@ -0,0 +1,93 @@
+XVLA_SOFT_FOLD_FEATURES = {
+    "observation.images.cam_high": {
+        "dtype": "video",
+        "names": ["height", "width", "channels"],
+        "shape": (256, 256, 3),
+        "names": ["height", "width", "rgb"],
+    },
+    "observation.images.cam_left_wrist": {
+        "dtype": "video",
+        "names": ["height", "width", "channels"],
+        "shape": (256, 256, 3),
+        "names": ["height", "width", "rgb"],
+    },
+    "observation.images.cam_right_wrist": {
+        "dtype": "video",
+        "names": ["height", "width", "channels"],
+        "shape": (256, 256, 3),
+        "names": ["height", "width", "rgb"],
+    },
+
+    "observation.states.eef_euler": {
+        "dtype": "float32",
+        "shape": (14,),   # 14 = 7 joints per arm × 2 arms OR 14-d state representation
+        "names": {"values": [f"eef_euler_{i}" for i in range(14)]},
+    },
+
+    "observation.states.eef_quaternion": {
+        "dtype": "float32",
+        "shape": (16,),   # 16 = 8 quaternion floats per arm × 2 arms
+        "names": {"values": [f"eef_quat_{i}" for i in range(16)]},
+    },
+
+    "observation.states.eef_6d": {
+        "dtype": "float32",
+        "shape": (20,),   # 20 = pos(3) + rot6d(6) + extra dims
+        "names": {"values": [f"eef6d_{i}" for i in range(20)]},
+    },
+
+    "observation.states.eef_left_time": {
+        "dtype": "float32",
+        "shape": (1,),
+        "names": {"values": ["eef_left_time"]},
+    },
+
+    "observation.states.eef_right_time": {
+        "dtype": "float32",
+        "shape": (1,),
+        "names": {"values": ["eef_right_time"]},
+    },
+
+    "observation.states.qpos": {
+        "dtype": "float32",
+        "shape": (14,),   # 7 per arm × 2 arms
+        "names": {"motors": [f"qpos_{i}" for i in range(14)]},
+    },
+
+    "observation.states.qvel": {
+        "dtype": "float32",
+        "shape": (14,),
+        "names": {"motors": [f"qvel_{i}" for i in range(14)]},
+    },
+
+    "observation.states.effort": {
+        "dtype": "float32",
+        "shape": (14,),
+        "names": {"motors": [f"effort_{i}" for i in range(14)]},
+    },
+
+    "observation.states.qpos_left_time": {
+        "dtype": "float32",
+        "shape": (1,),
+        "names": {"values": ["qpos_left_time"]},
+    },
+
+    "observation.states.qpos_right_time": {
+        "dtype": "float32",
+        "shape": (1,),
+        "names": {"values": ["qpos_right_time"]},
+    },
+
+    "action": {
+        "dtype": "float32",
+        "shape": (14,),
+        "names": {"motors": [f"joint_action_{i}" for i in range(14)]},
+    },
+
+    "time_stamp": {
+        "dtype": "float32",
+        "shape": (1,),
+        "names": {"values": ["global_timestamp"]},
+    },
+
+}