support wheel odom

agilexrobotics · Nov 21, 2023 · b703b1e · b703b1e
1 parent ca4f4c7
commit b703b1e
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Showing 8 changed files with 825 additions and 13 deletions.
diff --git a/aloha_scripts/constants.py b/aloha_scripts/constants.py
@@ -51,6 +51,18 @@
         'episode_len': 1200,
         'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
     },
+    'aloha_mobile_dummy':{
+        'dataset_dir': DATA_DIR + '/aloha_mobile_dummy',
+        'num_episodes': 50,
+        'episode_len': 1000,
+        'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
+    },
+    'aloha_mobile_fork':{
+        'dataset_dir': DATA_DIR + '/aloha_mobile_fork',
+        'num_episodes': 50,
+        'episode_len': 400,
+        'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
+    }
 }
 
 ### ALOHA fixed constants