Add Wall-X serving and Turtle2 TCP WebSocket bridge

wall_x/data/backends/lerobot/utils.py

@@ -10,6 +10,33 @@ import numpy as np
 import torch
 from transformers import BatchFeature
 
+KEY_MAPPINGS = {
+    "lerobot/aloha_mobile_cabinet": {
+        "camera": {
+            "observation.images.cam_high": "face_view",
+            "observation.images.cam_left_wrist": "left_wrist_view",
+            "observation.images.cam_right_wrist": "right_wrist_view",
+        },
+        "state": "observation.state",
+        "action": "action",
+    },
+    "physical-intelligence/libero": {
+        "camera": {
+            "image": "face_view",
+            "wrist_image": "left_wrist_view",
+        },
+        "state": "state",
+        "action": "actions",
+    },
+    "/home/xiehaolv/huanghuagui/dataset/aloha_sim_transfer_cube_human": {
+        "camera": {
+            "observation.images.top": "face_view",
+        },
+        "state": "observation.state",
+        "action": "action",
+    },  ##根据meta查询出来的结果，这一数据集只有"observation.images.top"，所以其余部分实际上无法得到引用结果
+}       ##真实进入训练时需要对这一部分进行修改
+
 logger = logging.getLogger(__name__)