haixuantao
7 months ago
3 changed files with 8 additions and 0 deletions
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+4 -0examples/so100-remote/no_torque.yml
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+2 -0examples/so100-remote/qwenvl-remote.yml
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+2 -0examples/so100-remote/qwenvl.yml
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examples/so100-remote/no_torque.yml
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| @@ -28,6 +28,8 @@ nodes: | |||||
| - pose | - pose | ||||
| - action | - action | ||||
| env: | env: | ||||
| # Link to your installation of so100-urdf. | |||||
| # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip | |||||
| URDF_PATH: /home/xavier/Downloads/so100_urdf/so100.urdf | URDF_PATH: /home/xavier/Downloads/so100_urdf/so100.urdf | ||||
| END_EFFECTOR_LINK: "Moving Jaw" | END_EFFECTOR_LINK: "Moving Jaw" | ||||
| TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7 | TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7 | ||||
| @@ -41,6 +43,8 @@ nodes: | |||||
| camera/image: camera/image | camera/image: camera/image | ||||
| camera/depth: camera/depth | camera/depth: camera/depth | ||||
| env: | env: | ||||
| # Link to your installation of so100-urdf. | |||||
| # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip | |||||
| so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf | so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf | ||||
| so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 | so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 | ||||
| CAMERA_PITCH: -3.1415 | CAMERA_PITCH: -3.1415 | ||||
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examples/so100-remote/qwenvl-remote.yml
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| @@ -54,6 +54,8 @@ nodes: | |||||
| camera/boxes2d: parse_bbox/bbox | camera/boxes2d: parse_bbox/bbox | ||||
| camera/masks: sam2/masks | camera/masks: sam2/masks | ||||
| env: | env: | ||||
| # Link to your installation of so100-urdf. | |||||
| # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip | |||||
| so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf | so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf | ||||
| so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 | so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 | ||||
| so100_inference_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 | so100_inference_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 | ||||
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examples/so100-remote/qwenvl.yml
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| @@ -34,6 +34,8 @@ nodes: | |||||
| - pose | - pose | ||||
| - action | - action | ||||
| env: | env: | ||||
| # Link to your installation of so100-urdf. | |||||
| # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip | |||||
| URDF_PATH: /home/xavier/Downloads/so100_urdf/so100.urdf | URDF_PATH: /home/xavier/Downloads/so100_urdf/so100.urdf | ||||
| END_EFFECTOR_LINK: "Moving Jaw" | END_EFFECTOR_LINK: "Moving Jaw" | ||||
| TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7 | TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7 | ||||