mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-11 14:49:43 +00:00
jade.choghari@huggingface.co
94 lines
2.6 KiB
Python
94 lines
2.6 KiB
Python
XVLA_SOFT_FOLD_FEATURES = {
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"observation.images.cam_high": {
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"dtype": "video",
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"names": ["height", "width", "channels"],
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"shape": (256, 256, 3),
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"names": ["height", "width", "rgb"],
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},
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"observation.images.cam_left_wrist": {
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"dtype": "video",
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"names": ["height", "width", "channels"],
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"shape": (256, 256, 3),
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"names": ["height", "width", "rgb"],
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},
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"observation.images.cam_right_wrist": {
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"dtype": "video",
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"names": ["height", "width", "channels"],
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"shape": (256, 256, 3),
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"names": ["height", "width", "rgb"],
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},
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"observation.states.eef_euler": {
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"dtype": "float32",
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"shape": (14,), # 14 = 7 joints per arm × 2 arms OR 14-d state representation
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"names": {"values": [f"eef_euler_{i}" for i in range(14)]},
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},
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"observation.states.eef_quaternion": {
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"dtype": "float32",
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"shape": (16,), # 16 = 8 quaternion floats per arm × 2 arms
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"names": {"values": [f"eef_quat_{i}" for i in range(16)]},
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},
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"observation.states.eef_6d": {
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"dtype": "float32",
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"shape": (20,), # 20 = pos(3) + rot6d(6) + extra dims
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"names": {"values": [f"eef6d_{i}" for i in range(20)]},
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},
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"observation.states.eef_left_time": {
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"dtype": "float32",
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"shape": (1,),
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"names": {"values": ["eef_left_time"]},
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},
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"observation.states.eef_right_time": {
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"dtype": "float32",
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"shape": (1,),
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"names": {"values": ["eef_right_time"]},
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},
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"observation.states.qpos": {
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"dtype": "float32",
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"shape": (14,), # 7 per arm × 2 arms
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"names": {"motors": [f"qpos_{i}" for i in range(14)]},
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},
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"observation.states.qvel": {
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"dtype": "float32",
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"shape": (14,),
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"names": {"motors": [f"qvel_{i}" for i in range(14)]},
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},
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"observation.states.effort": {
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"dtype": "float32",
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"shape": (14,),
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"names": {"motors": [f"effort_{i}" for i in range(14)]},
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},
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"observation.states.qpos_left_time": {
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"dtype": "float32",
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"shape": (1,),
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"names": {"values": ["qpos_left_time"]},
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},
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"observation.states.qpos_right_time": {
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"dtype": "float32",
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"shape": (1,),
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"names": {"values": ["qpos_right_time"]},
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},
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"action": {
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"dtype": "float32",
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"shape": (14,),
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"names": {"motors": [f"joint_action_{i}" for i in range(14)]},
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},
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"time_stamp": {
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"dtype": "float32",
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"shape": (1,),
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"names": {"values": ["global_timestamp"]},
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},
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}
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