mirror of
https://github.com/huggingface/lerobot.git
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jade.choghari@huggingface.co
60 lines
2.9 KiB
Plaintext
60 lines
2.9 KiB
Plaintext
LIBERO_FEATURES = {
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"observation.images.image": {
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"dtype": "video",
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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.wrist_image": {
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"dtype": "video",
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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.state": {
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"dtype": "float32",
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"shape": (8,),
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"names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper", "gripper"]},
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},
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"observation.states.ee_state": {
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"dtype": "float32",
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"shape": (6,),
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"names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3"]},
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},
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"observation.states.joint_state": {
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"dtype": "float32",
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"shape": (7,),
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"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]},
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},
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"observation.states.gripper_state": {
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"dtype": "float32",
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"shape": (2,),
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"names": {"motors": ["gripper", "gripper"]},
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},
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"action": {
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"dtype": "float32",
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"shape": (7,),
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"names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper"]},
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},
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}
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Everything are float32 except for language_instructions and images , are
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├── action # nx14 absolute bimanual joints, not used in our paper
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├── base_action # nx2 chassis actions, not used in our paper
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├── language_instruction # 🌟"fold the cloth"
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├── observations
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│ ├── eef # nx14 absolute eef pos using euler angles to represent the rotation, not used in our paper
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│ │ eef_quaternion # nx16 absolute eef pos using quaternion to represent the rotation, not used in our paper
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│ │ eef_6d # 🌟nx20 absolute eef pos using rotate6d to represent the rotation
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│ │ eef_left_time # 🌟nx1 the time stamp for left arm eef pos, can be used for resample or interpolation
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│ │ eef_right_time # 🌟nx1 the time stamp for right arm eef pos, can be used for resample or interpolation
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│ ├── qpos # nx14 absolute bimanual joints, not used in our paper
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│ ├── qpos_left_time # nx1 the time stamp for left arm joint pos, can be used for resample or interpolation, not used in our paper
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│ ├── qpos_right_time # nx1 the time stamp for right arm joint pos, can be used for resample or interpolation, not used in our paper
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│ ├── qvel # nx14 bimanual joint velocity, not used in our paper
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│ ├── effort # nx14 bimanual joint effort, not used in our paper
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│ ├── images
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│ │ ├── cam_high # 🌟the encoded head cam view, should be decoded using cv2
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│ │ ├── cam_left_wrist # 🌟the encoded left wrist view, should be decoded using cv2
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│ │ ├── cam_right_wrist # 🌟the encoded right wrist view, should be decoded using cv2
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├── time_stamp # the time stamp for each sample, not used in our paper
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