GR00T family morphology descriptors (estimates, flagged)
Browse files
tinyvla_b200/configs/groot_morphology.yaml
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| 1 |
+
# Дескрипторы морфологии для семейств nvidia/physical-ai (порядок полей = MORPH_FIELDS).
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# ЗНАЧЕНИЯ ОЦЕНОЧНЫЕ по публичным спекам роботов, не выверены по URDF — модель
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# читает дескриптор зеро-шот, ошибка стоит качества, не падения.
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gr1: # Fourier GR1: гуманоид, руки+кисти, торс
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arm_dof: 7
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reach_m: 0.65
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gripper_width_m: 0.08
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| 8 |
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num_cameras: 1
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is_mobile: 1
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control_hz: 20
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joint_lo_mean: -2.6
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joint_hi_mean: 2.6
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workspace_x: 0.6
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workspace_y: 0.8
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workspace_z: 0.9
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payload_kg: 3.0
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ee_type_parallel: -1
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ee_type_multi: 1
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base_holonomic: -1
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reserved: 0
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panda_bi_gripper: # два Franka Panda с параллельными грипперами
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arm_dof: 7
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reach_m: 0.85
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gripper_width_m: 0.08
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num_cameras: 3
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is_mobile: -1
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control_hz: 20
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joint_lo_mean: -2.8
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joint_hi_mean: 2.8
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workspace_x: 0.8
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workspace_y: 1.2
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workspace_z: 0.8
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payload_kg: 3.0
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ee_type_parallel: 1
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ee_type_multi: -1
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base_holonomic: -1
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reserved: 0
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panda_bi_hand: # два Panda с многопалыми кистями
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arm_dof: 7
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reach_m: 0.85
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gripper_width_m: 0.10
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num_cameras: 3
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is_mobile: -1
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control_hz: 20
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joint_lo_mean: -2.8
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joint_hi_mean: 2.8
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workspace_x: 0.8
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workspace_y: 1.2
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workspace_z: 0.8
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payload_kg: 2.0
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ee_type_parallel: -1
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ee_type_multi: 1
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base_holonomic: -1
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reserved: 0
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panda_single: # один Panda с гриппером (robocasa-кухни)
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arm_dof: 7
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reach_m: 0.85
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gripper_width_m: 0.08
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num_cameras: 3
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is_mobile: -1
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control_hz: 20
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joint_lo_mean: -2.8
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joint_hi_mean: 2.8
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workspace_x: 0.8
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workspace_y: 0.8
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workspace_z: 0.8
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payload_kg: 3.0
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ee_type_parallel: 1
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ee_type_multi: -1
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base_holonomic: -1
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reserved: 0
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r1_pro: # Galbot R1 Pro: мобильный манипулятор, 2 руки, телескоп-торс
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arm_dof: 7
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reach_m: 0.9
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gripper_width_m: 0.08
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num_cameras: 3
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is_mobile: 1
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control_hz: 30
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joint_lo_mean: -2.9
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joint_hi_mean: 2.9
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workspace_x: 1.0
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workspace_y: 1.2
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workspace_z: 1.4
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payload_kg: 5.0
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ee_type_parallel: 1
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ee_type_multi: -1
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base_holonomic: 1
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reserved: 0
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g1: # Unitree G1: гуманоид с трёхпалыми кистями
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arm_dof: 7
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reach_m: 0.55
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gripper_width_m: 0.06
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num_cameras: 1
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is_mobile: 1
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control_hz: 30
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joint_lo_mean: -2.5
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joint_hi_mean: 2.5
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workspace_x: 0.5
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workspace_y: 0.7
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workspace_z: 0.8
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payload_kg: 2.0
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ee_type_parallel: -1
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ee_type_multi: 1
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base_holonomic: -1
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reserved: 0
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