File size: 1,010 Bytes
d304fcf | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 | # pot14 自采双臂台架 — 单活动臂 7 维（自动映射左或右）
# 与 data/processed/pot14_right_arm 配套
# 相机: 拼接画面裁剪后的 top / left / right
states:
- observation.state.arm.position:
origin_keys:
- observation.state:
start: 0
end: 6
- observation.state.effector.position:
origin_keys:
- observation.state:
start: 6
end: 7
actions:
- action.arm.position:
origin_keys:
- action:
start: 0
end: 6
subtract_state: True
- action.effector.position:
origin_keys:
- action:
start: 6
end: 7
subtract_state: False
images:
- observation.images.camera_top:
origin_keys: observation.images.top
- observation.images.camera_wrist_left:
origin_keys: observation.images.left
- observation.images.camera_wrist_right:
origin_keys: observation.images.right
|