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Martino Russi
2025-11-21 14:13:05 +01:00
parent e5cae6be64
commit 9a052566a3
326 changed files with 20122 additions and 15 deletions
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utils/constants.py
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import dataclasses
from typing import List, Dict
@dataclasses.dataclass(frozen=True)
class RobotConfig:
motors: List[str]
cameras: List[str]
camera_to_image_key: Dict[str, str]
json_state_data_name: List[str]
json_action_data_name: List[str]
Z1_CONFIG = RobotConfig(
motors=[
"kLeftWaist",
"kLeftShoulder",
"kLeftElbow",
"kLeftForearmRoll",
"kLeftWristAngle",
"kLeftWristRotate",
"kLeftGripper",
"kRightWaist",
"kRightShoulder",
"kRightElbow",
"kRightForearmRoll",
"kRightWristAngle",
"kRightWristRotate",
"kRightGripper",
],
cameras=[
"cam_high",
"cam_left_wrist",
"cam_right_wrist",
],
camera_to_image_key={"color_0": "cam_high", "color_1": "cam_left_wrist", "color_2": "cam_right_wrist"},
json_state_data_name=["left_arm", "right_arm"],
json_action_data_name=["left_arm", "right_arm"],
)
Z1_SINGLE_CONFIG = RobotConfig(
motors=[
"kWaist",
"kShoulder",
"kElbow",
"kForearmRoll",
"kWristAngle",
"kWristRotate",
"kGripper",
],
cameras=[
"cam_high",
"cam_wrist",
],
camera_to_image_key={"color_0": "cam_high", "color_1": "cam_wrist"},
json_state_data_name=["left_arm", "right_arm"],
json_action_data_name=["left_arm", "right_arm"],
)
G1_DEX1_CONFIG = RobotConfig(
motors=[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftGripper",
"kRightGripper",
],
cameras=[
"cam_left_high",
"cam_right_high",
"cam_left_wrist",
"cam_right_wrist",
],
camera_to_image_key={
"color_0": "cam_left_high",
"color_1": "cam_right_high",
"color_2": "cam_left_wrist",
"color_3": "cam_right_wrist",
},
json_state_data_name=["left_arm", "right_arm", "left_ee", "right_ee"],
json_action_data_name=["left_arm", "right_arm", "left_ee", "right_ee"],
)
G1_DEX1_CONFIG_SIM = RobotConfig(
motors=[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftGripper",
"kRightGripper",
],
cameras=[
"cam_left_high",
"cam_left_wrist",
"cam_right_wrist",
],
camera_to_image_key={
"color_0": "cam_left_high",
"color_1": "cam_left_wrist",
"color_2": "cam_right_wrist",
},
json_state_data_name=["left_arm", "right_arm", "left_ee", "right_ee"],
json_action_data_name=["left_arm", "right_arm", "left_ee", "right_ee"],
)
G1_DEX3_CONFIG = RobotConfig(
motors=[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1",
],
cameras=[
"cam_left_high",
"cam_right_high",
"cam_left_wrist",
"cam_right_wrist",
],
camera_to_image_key={
"color_0": "cam_left_high",
"color_1": "cam_right_high",
"color_2": "cam_left_wrist",
"color_3": "cam_right_wrist",
},
json_state_data_name=["left_arm", "right_arm", "left_ee", "right_ee"],
json_action_data_name=["left_arm", "right_arm", "left_ee", "right_ee"],
)
G1_BRAINCO_CONFIG = RobotConfig(
motors=[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb",
"kLeftHandThumbAux",
"kLeftHandIndex",
"kLeftHandMiddle",
"kLeftHandRing",
"kLeftHandPinky",
"kRightHandThumb",
"kRightHandThumbAux",
"kRightHandIndex",
"kRightHandMiddle",
"kRightHandRing",
"kRightHandPinky",
],
cameras=[
"cam_left_high",
"cam_right_high",
"cam_left_wrist",
"cam_right_wrist",
],
camera_to_image_key={
"color_0": "cam_left_high",
"color_1": "cam_right_high",
"color_2": "cam_left_wrist",
"color_3": "cam_right_wrist",
},
json_state_data_name=["left_arm", "right_arm", "left_ee", "right_ee"],
json_action_data_name=["left_arm", "right_arm", "left_ee", "right_ee"],
)
G1_INSPIRE_CONFIG = RobotConfig(
motors=[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandPinky",
"kLeftHandRing",
"kLeftHandMiddle",
"kLeftHandIndex",
"kLeftHandThumbBend",
"kLeftHandThumbRotation",
"kRightHandPinky",
"kRightHandRing",
"kRightHandMiddle",
"kRightHandIndex",
"kRightHandThumbBend",
"kRightHandThumbRotation",
],
cameras=[
"cam_left_high",
"cam_right_high",
"cam_left_wrist",
"cam_right_wrist",
],
camera_to_image_key={
"color_0": "cam_left_high",
"color_1": "cam_right_high",
"color_2": "cam_left_wrist",
"color_3": "cam_right_wrist",
},
json_state_data_name=["left_arm", "right_arm", "left_ee", "right_ee"],
json_action_data_name=["left_arm", "right_arm", "left_ee", "right_ee"],
)
ROBOT_CONFIGS = {
"Unitree_Z1_Single": Z1_SINGLE_CONFIG,
"Unitree_Z1_Dual": Z1_CONFIG,
"Unitree_G1_Dex1": G1_DEX1_CONFIG,
"Unitree_G1_Dex1_Sim": G1_DEX1_CONFIG_SIM,
"Unitree_G1_Dex3": G1_DEX3_CONFIG,
"Unitree_G1_Brainco": G1_BRAINCO_CONFIG,
"Unitree_G1_Inspire": G1_INSPIRE_CONFIG,
}