52 lines
1.2 KiB
Python
52 lines
1.2 KiB
Python
from lerobot.common.datasets.lerobot_dataset import LEROBOT_HOME
|
|
|
|
LEROBOT_TEST_DIR = LEROBOT_HOME / "_testing"
|
|
DUMMY_REPO_ID = "dummy/repo"
|
|
DUMMY_ROBOT_TYPE = "dummy_robot"
|
|
DUMMY_MOTOR_FEATURES = {
|
|
"action": {
|
|
"dtype": "float32",
|
|
"shape": (6,),
|
|
"names": [
|
|
"shoulder_pan",
|
|
"shoulder_lift",
|
|
"elbow_flex",
|
|
"wrist_flex",
|
|
"wrist_roll",
|
|
"gripper",
|
|
],
|
|
},
|
|
"state": {
|
|
"dtype": "float32",
|
|
"shape": (6,),
|
|
"names": [
|
|
"shoulder_pan",
|
|
"shoulder_lift",
|
|
"elbow_flex",
|
|
"wrist_flex",
|
|
"wrist_roll",
|
|
"gripper",
|
|
],
|
|
},
|
|
}
|
|
DUMMY_CAMERA_FEATURES = {
|
|
"laptop": {
|
|
"shape": (480, 640, 3),
|
|
"names": ["height", "width", "channels"],
|
|
"info": None,
|
|
},
|
|
"phone": {
|
|
"shape": (480, 640, 3),
|
|
"names": ["height", "width", "channels"],
|
|
"info": None,
|
|
},
|
|
}
|
|
DEFAULT_FPS = 30
|
|
DUMMY_VIDEO_INFO = {
|
|
"video.fps": DEFAULT_FPS,
|
|
"video.codec": "av1",
|
|
"video.pix_fmt": "yuv420p",
|
|
"video.is_depth_map": False,
|
|
"has_audio": False,
|
|
}
|