Add files using upload-large-folder tool
Browse files- Surgical/semaphor/open_h_semaphor_1_18/.gitattributes +59 -0
- Surgical/semaphor/open_h_semaphor_1_18/README.md +0 -0
- Surgical/semaphor/open_h_semaphor_1_18/data/chunk-000/episode_000006.parquet +3 -0
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- Surgical/semaphor/open_h_semaphor_1_18/meta/tasks.jsonl +1 -0
Surgical/semaphor/open_h_semaphor_1_18/.gitattributes
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Surgical/semaphor/open_h_semaphor_1_18/meta/README.md
ADDED
|
@@ -0,0 +1,223 @@
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|
| 1 |
+
<!--
|
| 2 |
+
Open-H Embodiment Dataset README Template (v1.0)
|
| 3 |
+
Please fill out this template and include it in the ./metadata directory of your LeRobot dataset.
|
| 4 |
+
This file helps others understand the context and details of your contribution.
|
| 5 |
+
-->
|
| 6 |
+
|
| 7 |
+
# [Dataset Name] - README
|
| 8 |
+
|
| 9 |
+
---
|
| 10 |
+
|
| 11 |
+
## 📋 At a Glance
|
| 12 |
+
|
| 13 |
+
*Provide a one-sentence summary of your dataset.*
|
| 14 |
+
|
| 15 |
+
**Example:** *Teleoperated demonstrations of a da Vinci robot performing needle passing on a silicone phantom.*
|
| 16 |
+
|
| 17 |
+
---
|
| 18 |
+
|
| 19 |
+
## 📖 Dataset Overview
|
| 20 |
+
|
| 21 |
+
*Briefly describe the purpose and content of this dataset. What key skills or scenarios does it demonstrate?*
|
| 22 |
+
|
| 23 |
+
**Example:** *This dataset contains 2,500 trajectories of expert surgeons using the dVRK to perform surgical suturing tasks. It includes successful trials, failures, and recovery attempts to provide a robust dataset for training imitation learning policies.*
|
| 24 |
+
|
| 25 |
+
| | |
|
| 26 |
+
| :--- | :--- |
|
| 27 |
+
| **Total Trajectories** | `[Number]` |
|
| 28 |
+
| **Total Hours** | `[Number]` |
|
| 29 |
+
| **Data Type** | `[ ] Clinical` `[ ] Ex-Vivo` `[ ] Table-Top Phantom` `[ ] Digital Simulation` `[ ] Physical Simulation` `[ ] Other (If checked, update "Other")` |
|
| 30 |
+
| **License** | CC BY 4.0 |
|
| 31 |
+
| **Version** | `[e.g., 1.0]` |
|
| 32 |
+
|
| 33 |
+
---
|
| 34 |
+
|
| 35 |
+
## 🎯 Tasks & Domain
|
| 36 |
+
|
| 37 |
+
### Domain
|
| 38 |
+
|
| 39 |
+
*Select the primary domain for this dataset.*
|
| 40 |
+
|
| 41 |
+
- [ ] **Surgical Robotics**
|
| 42 |
+
- [ ] **Ultrasound Robotics**
|
| 43 |
+
- [ ] **Other Healthcare Robotics** (Please specify: `[Your Domain]`)
|
| 44 |
+
|
| 45 |
+
### Demonstrated Skills
|
| 46 |
+
|
| 47 |
+
*List the primary skills or procedures demonstrated in this dataset.*
|
| 48 |
+
|
| 49 |
+
***Example:***
|
| 50 |
+
- Needle-passing
|
| 51 |
+
- Suture-tying
|
| 52 |
+
- ...
|
| 53 |
+
|
| 54 |
+
---
|
| 55 |
+
|
| 56 |
+
## 🔬 Data Collection Details
|
| 57 |
+
|
| 58 |
+
### Collection Method
|
| 59 |
+
|
| 60 |
+
*How was the data collected?*
|
| 61 |
+
|
| 62 |
+
- [ ] **Human Teleoperation**
|
| 63 |
+
- [ ] **Programmatic/State-Machine**
|
| 64 |
+
- [ ] **AI Policy / Autonomous**
|
| 65 |
+
- [ ] **Other** (Please specify: `[Your Method]`)
|
| 66 |
+
|
| 67 |
+
### Operator Details
|
| 68 |
+
|
| 69 |
+
| | Description |
|
| 70 |
+
| :--- | :--- |
|
| 71 |
+
| **Operator Count** | `[Number of unique people who collected data]` |
|
| 72 |
+
| **Operator Skill Level** | `[ ] Expert (e.g., Surgeon, Sonographer)` <br> `[ ] Intermediate (e.g., Trained Researcher)` <br> `[ ] Novice (e.g., ML Researcher with minimal experience)` <br> `[ ] N/A` |
|
| 73 |
+
| **Collection Period** | From `[YYYY-MM-DD]` to `[YYYY-MM-DD]` |
|
| 74 |
+
|
| 75 |
+
### Recovery Demonstrations
|
| 76 |
+
|
| 77 |
+
*Does this dataset include examples of recovering from failure?*
|
| 78 |
+
|
| 79 |
+
- [ ] **Yes**
|
| 80 |
+
- [ ] **No**
|
| 81 |
+
|
| 82 |
+
**If yes, please briefly describe the recovery process:**
|
| 83 |
+
|
| 84 |
+
*Example: For 250 demonstrations, demonstrations are initialized from a failed needle grasp position, the operator re-orients the robotic grippers and attempts to grasp the needle again from a different angle.*
|
| 85 |
+
|
| 86 |
+
---
|
| 87 |
+
|
| 88 |
+
## 💡 Diversity Dimensions
|
| 89 |
+
|
| 90 |
+
*Check all dimensions that were intentionally varied during data collection.*
|
| 91 |
+
|
| 92 |
+
- [ ] **Camera Position / Angle**
|
| 93 |
+
- [ ] **Lighting Conditions**
|
| 94 |
+
- [ ] **Target Object** (e.g., different phantom models, suture types)
|
| 95 |
+
- [ ] **Spatial Layout** (e.g., placing the target suture needle in various locations)
|
| 96 |
+
- [ ] **Robot Embodiment** (if multiple robots were used)
|
| 97 |
+
- [ ] **Task Execution** (e.g., different techniques for the same task)
|
| 98 |
+
- [ ] **Background / Scene**
|
| 99 |
+
- [ ] **Other** (Please specify: `[Your Dimension]`)
|
| 100 |
+
|
| 101 |
+
*If you checked any of the above please briefly elaborate below.*
|
| 102 |
+
|
| 103 |
+
**Example:** We adjusted the room camera perspective every 100 demonstrations. The camera angle was varied by panning up and down by +/- 10 degrees, as well as manually adjusting the height of the camera mount by +/- 2 cm. Additionally, we varied the needle used by swapping out various curvatures, including 1/4, 3/8, 1/2, and 5/8.
|
| 104 |
+
|
| 105 |
+
---
|
| 106 |
+
|
| 107 |
+
## 🛠️ Equipment & Setup
|
| 108 |
+
|
| 109 |
+
### Robotic Platform(s)
|
| 110 |
+
|
| 111 |
+
*List the primary robot(s) used.*
|
| 112 |
+
|
| 113 |
+
- **Robot 1:** `[e.g., dVRK (da Vinci Research Kit)]`
|
| 114 |
+
- **Robot 2:** `[If applicable]`
|
| 115 |
+
|
| 116 |
+
### Sensors & Cameras
|
| 117 |
+
|
| 118 |
+
*List the sensors and cameras used. Specify model names where possible. (Add and remove rows as needed)*
|
| 119 |
+
|
| 120 |
+
| Type | Model/Details |
|
| 121 |
+
| :--- | :--- |
|
| 122 |
+
| **Primary Camera** | `[e.g., Endoscopic Camera, 1920x1080 @ 30fps]` |
|
| 123 |
+
| **Room/3rd Person Camera** | `[e.g., Logitech C920, 1920x1080 @ 30fps]` |
|
| 124 |
+
| **Force/Torque Sensor** | `[e.g., ATI Nano25]` |
|
| 125 |
+
| **Medical Imager** | `[e.g., GE Voluson E10 Ultrasound, B-Mode]` |
|
| 126 |
+
| **Other** | `[Specify]` |
|
| 127 |
+
|
| 128 |
+
---
|
| 129 |
+
|
| 130 |
+
## 🎯 Action & State Space Representation
|
| 131 |
+
|
| 132 |
+
*Describe how actions and robot states are represented in your dataset. This is crucial for understanding data compatibility and enabling effective policy learning.*
|
| 133 |
+
|
| 134 |
+
### Action Space Representation
|
| 135 |
+
|
| 136 |
+
**Primary Action Representation:**
|
| 137 |
+
- [ ] **Absolute Cartesian** (position/orientation relative to robot base)
|
| 138 |
+
- [ ] **Relative Cartesian** (delta position/orientation from current pose)
|
| 139 |
+
- [ ] **Joint Space** (direct joint angle commands)
|
| 140 |
+
- [ ] **Other** (Please specify: `[Your Representation]`)
|
| 141 |
+
|
| 142 |
+
**Orientation Representation:**
|
| 143 |
+
- [ ] **Quaternions** (x, y, z, w)
|
| 144 |
+
- [ ] **Euler Angles** (roll, pitch, yaw)
|
| 145 |
+
- [ ] **Axis-Angle** (rotation vector)
|
| 146 |
+
- [ ] **Rotation Matrix** (3x3 matrix)
|
| 147 |
+
- [ ] **Other** (Please specify: `[Your Representation]`)
|
| 148 |
+
|
| 149 |
+
**Reference Frame:**
|
| 150 |
+
- [ ] **Robot Base Frame**
|
| 151 |
+
- [ ] **Tool/End-Effector Frame**
|
| 152 |
+
- [ ] **World/Global Frame**
|
| 153 |
+
- [ ] **Camera Frame**
|
| 154 |
+
- [ ] **Other** (Please specify: `[Your Frame]`)
|
| 155 |
+
|
| 156 |
+
**Action Dimensions:**
|
| 157 |
+
*List the action space dimensions and their meanings.*
|
| 158 |
+
|
| 159 |
+
**Example:**
|
| 160 |
+
```
|
| 161 |
+
action: [x, y, z, qx, qy, qz, qw, gripper]
|
| 162 |
+
- x, y, z: Absolute position in robot base frame (meters)
|
| 163 |
+
- qx, qy, qz, qw: Absolute orientation as quaternion
|
| 164 |
+
- gripper: Gripper opening angle (radians)
|
| 165 |
+
```
|
| 166 |
+
|
| 167 |
+
### State Space Representation
|
| 168 |
+
|
| 169 |
+
**State Information Included:**
|
| 170 |
+
- [ ] **Joint Positions** (all articulated joints)
|
| 171 |
+
- [ ] **Joint Velocities**
|
| 172 |
+
- [ ] **End-Effector Pose** (Cartesian position/orientation)
|
| 173 |
+
- [ ] **Force/Torque Readings**
|
| 174 |
+
- [ ] **Gripper State** (position, force, etc.)
|
| 175 |
+
- [ ] **Other** (Please specify: `[Your State Info]`)
|
| 176 |
+
|
| 177 |
+
**State Dimensions:**
|
| 178 |
+
*List the state space dimensions and their meanings.*
|
| 179 |
+
|
| 180 |
+
**Example:**
|
| 181 |
+
```
|
| 182 |
+
observation.state: [j1, j2, j3, j4, j5, j6, j7, gripper_pos]
|
| 183 |
+
- j1-j7: Absolute joint positions for 7-DOF arm (radians)
|
| 184 |
+
- gripper_pos: Current gripper opening (meters)
|
| 185 |
+
```
|
| 186 |
+
|
| 187 |
+
### 📋 Recommended Additional Representations
|
| 188 |
+
|
| 189 |
+
*Even if not your primary action/state representation, we strongly encourage including these standardized formats for maximum compatibility:*
|
| 190 |
+
|
| 191 |
+
**Recommended Action Fields:**
|
| 192 |
+
- **`action.cartesian_absolute`**: Absolute Cartesian pose with absolute quaternions
|
| 193 |
+
```
|
| 194 |
+
[x, y, z, qx, qy, qz, qw, gripper_angle]
|
| 195 |
+
```
|
| 196 |
+
|
| 197 |
+
**Recommended State Fields:**
|
| 198 |
+
- **`observation.state.joint_positions`**: Absolute positions for all articulated joints
|
| 199 |
+
```
|
| 200 |
+
[joint_1, joint_2, ..., joint_n]
|
| 201 |
+
```
|
| 202 |
+
|
| 203 |
+
|
| 204 |
+
---
|
| 205 |
+
|
| 206 |
+
## ⏱️ Data Synchronization Approach
|
| 207 |
+
|
| 208 |
+
*Describe how you achieved proper data synchronization across different sensors, cameras, and robotic systems during data collection. This is crucial for ensuring temporal alignment of all modalities in your dataset.*
|
| 209 |
+
|
| 210 |
+
**Example:** *We collect joint kinematics from our Franka Research 3 and RGB-D frames from Intel RealSense D435 cameras, all running in ROS 2 Galactic on the same workstation clocked with ROS Time. Both drivers stamp their outgoing messages’ header.stamp fields with the shared system clock, and we record /joint_states, /camera/*/image_raw, and /camera/*/camera_info in a single rosbag2 session. During export to LeRobot, each data point’s ROS header.stamp is written verbatim into the timestamp attribute. Offline checks show inter-sensor skew stays below ±2 ms across a 2-minute capture.*
|
| 211 |
+
|
| 212 |
+
---
|
| 213 |
+
|
| 214 |
+
## 👥 Attribution & Contact
|
| 215 |
+
|
| 216 |
+
*Please provide attribution for the dataset creators and a point of contact.*
|
| 217 |
+
|
| 218 |
+
| | |
|
| 219 |
+
| :--- | :--- |
|
| 220 |
+
| **Dataset Lead** | `[Name1, Name2, ...]` |
|
| 221 |
+
| **Institution** | `[Your Institution]` |
|
| 222 |
+
| **Contact Email** | `[email1@example.com, email2@example.com, ...]` |
|
| 223 |
+
| **Citation (BibTeX)** | <pre><code>@misc{[your_dataset_name_2025],<br> author = {[Your Name(s)]},<br> title = {[Your Dataset Title]},<br> year = {2025},<br> publisher = {Open-H-Embodiment},<br> note = {https://hrpp.research.virginia.edu/teams/irb-sbs/researcher-guide-irb-sbs/identifiers}<br>}</code></pre> |
|
Surgical/semaphor/open_h_semaphor_1_18/meta/episodes.jsonl
ADDED
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|
| 1 |
+
{"episode_index": 0, "tasks": "keep doing suturing from the current observations", "num_frames": 167}
|
| 2 |
+
{"episode_index": 1, "tasks": "keep doing suturing from the current observations", "num_frames": 182}
|
| 3 |
+
{"episode_index": 2, "tasks": "keep doing suturing from the current observations", "num_frames": 299}
|
| 4 |
+
{"episode_index": 3, "tasks": "keep doing suturing from the current observations", "num_frames": 213}
|
| 5 |
+
{"episode_index": 4, "tasks": "keep doing suturing from the current observations", "num_frames": 153}
|
| 6 |
+
{"episode_index": 5, "tasks": "keep doing suturing from the current observations", "num_frames": 155}
|
| 7 |
+
{"episode_index": 6, "tasks": "keep doing suturing from the current observations", "num_frames": 107}
|
| 8 |
+
{"episode_index": 7, "tasks": "keep doing suturing from the current observations", "num_frames": 180}
|
| 9 |
+
{"episode_index": 8, "tasks": "keep doing suturing from the current observations", "num_frames": 398}
|
| 10 |
+
{"episode_index": 9, "tasks": "keep doing suturing from the current observations", "num_frames": 231}
|
| 11 |
+
{"episode_index": 10, "tasks": "keep doing suturing from the current observations", "num_frames": 198}
|
| 12 |
+
{"episode_index": 11, "tasks": "keep doing suturing from the current observations", "num_frames": 158}
|
| 13 |
+
{"episode_index": 12, "tasks": "keep doing suturing from the current observations", "num_frames": 171}
|
| 14 |
+
{"episode_index": 13, "tasks": "keep doing suturing from the current observations", "num_frames": 105}
|
| 15 |
+
{"episode_index": 14, "tasks": "keep doing suturing from the current observations", "num_frames": 107}
|
| 16 |
+
{"episode_index": 15, "tasks": "keep doing suturing from the current observations", "num_frames": 83}
|
| 17 |
+
{"episode_index": 16, "tasks": "keep doing suturing from the current observations", "num_frames": 261}
|
| 18 |
+
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{"episode_index": 415, "tasks": "keep doing suturing from the current observations", "num_frames": 54}
|
| 417 |
+
{"episode_index": 416, "tasks": "keep doing suturing from the current observations", "num_frames": 44}
|
| 418 |
+
{"episode_index": 417, "tasks": "keep doing suturing from the current observations", "num_frames": 105}
|
| 419 |
+
{"episode_index": 418, "tasks": "keep doing suturing from the current observations", "num_frames": 62}
|
| 420 |
+
{"episode_index": 419, "tasks": "keep doing suturing from the current observations", "num_frames": 60}
|
| 421 |
+
{"episode_index": 420, "tasks": "keep doing suturing from the current observations", "num_frames": 204}
|
| 422 |
+
{"episode_index": 421, "tasks": "keep doing suturing from the current observations", "num_frames": 66}
|
| 423 |
+
{"episode_index": 422, "tasks": "keep doing suturing from the current observations", "num_frames": 54}
|
| 424 |
+
{"episode_index": 423, "tasks": "keep doing suturing from the current observations", "num_frames": 99}
|
| 425 |
+
{"episode_index": 424, "tasks": "keep doing suturing from the current observations", "num_frames": 60}
|
| 426 |
+
{"episode_index": 425, "tasks": "keep doing suturing from the current observations", "num_frames": 134}
|
| 427 |
+
{"episode_index": 426, "tasks": "keep doing suturing from the current observations", "num_frames": 167}
|
| 428 |
+
{"episode_index": 427, "tasks": "keep doing suturing from the current observations", "num_frames": 78}
|
| 429 |
+
{"episode_index": 428, "tasks": "keep doing suturing from the current observations", "num_frames": 69}
|
| 430 |
+
{"episode_index": 429, "tasks": "keep doing suturing from the current observations", "num_frames": 68}
|
| 431 |
+
{"episode_index": 430, "tasks": "keep doing suturing from the current observations", "num_frames": 69}
|
| 432 |
+
{"episode_index": 431, "tasks": "keep doing suturing from the current observations", "num_frames": 71}
|
| 433 |
+
{"episode_index": 432, "tasks": "keep doing suturing from the current observations", "num_frames": 98}
|
| 434 |
+
{"episode_index": 433, "tasks": "keep doing suturing from the current observations", "num_frames": 161}
|
| 435 |
+
{"episode_index": 434, "tasks": "keep doing suturing from the current observations", "num_frames": 74}
|
| 436 |
+
{"episode_index": 435, "tasks": "keep doing suturing from the current observations", "num_frames": 123}
|
| 437 |
+
{"episode_index": 436, "tasks": "keep doing suturing from the current observations", "num_frames": 80}
|
| 438 |
+
{"episode_index": 437, "tasks": "keep doing suturing from the current observations", "num_frames": 60}
|
| 439 |
+
{"episode_index": 438, "tasks": "keep doing suturing from the current observations", "num_frames": 81}
|
| 440 |
+
{"episode_index": 439, "tasks": "keep doing suturing from the current observations", "num_frames": 144}
|
| 441 |
+
{"episode_index": 440, "tasks": "keep doing suturing from the current observations", "num_frames": 48}
|
| 442 |
+
{"episode_index": 441, "tasks": "keep doing suturing from the current observations", "num_frames": 48}
|
| 443 |
+
{"episode_index": 442, "tasks": "keep doing suturing from the current observations", "num_frames": 107}
|
| 444 |
+
{"episode_index": 443, "tasks": "keep doing suturing from the current observations", "num_frames": 89}
|
| 445 |
+
{"episode_index": 444, "tasks": "keep doing suturing from the current observations", "num_frames": 197}
|
| 446 |
+
{"episode_index": 445, "tasks": "keep doing suturing from the current observations", "num_frames": 105}
|
| 447 |
+
{"episode_index": 446, "tasks": "keep doing suturing from the current observations", "num_frames": 92}
|
| 448 |
+
{"episode_index": 447, "tasks": "keep doing suturing from the current observations", "num_frames": 44}
|
| 449 |
+
{"episode_index": 448, "tasks": "keep doing suturing from the current observations", "num_frames": 41}
|
| 450 |
+
{"episode_index": 449, "tasks": "keep doing suturing from the current observations", "num_frames": 36}
|
| 451 |
+
{"episode_index": 450, "tasks": "keep doing suturing from the current observations", "num_frames": 80}
|
| 452 |
+
{"episode_index": 451, "tasks": "keep doing suturing from the current observations", "num_frames": 69}
|
| 453 |
+
{"episode_index": 452, "tasks": "keep doing suturing from the current observations", "num_frames": 63}
|
| 454 |
+
{"episode_index": 453, "tasks": "keep doing suturing from the current observations", "num_frames": 204}
|
| 455 |
+
{"episode_index": 454, "tasks": "keep doing suturing from the current observations", "num_frames": 42}
|
| 456 |
+
{"episode_index": 455, "tasks": "keep doing suturing from the current observations", "num_frames": 51}
|
| 457 |
+
{"episode_index": 456, "tasks": "keep doing suturing from the current observations", "num_frames": 107}
|
| 458 |
+
{"episode_index": 457, "tasks": "keep doing suturing from the current observations", "num_frames": 57}
|
| 459 |
+
{"episode_index": 458, "tasks": "keep doing suturing from the current observations", "num_frames": 123}
|
| 460 |
+
{"episode_index": 459, "tasks": "keep doing suturing from the current observations", "num_frames": 212}
|
| 461 |
+
{"episode_index": 460, "tasks": "keep doing suturing from the current observations", "num_frames": 83}
|
| 462 |
+
{"episode_index": 461, "tasks": "keep doing suturing from the current observations", "num_frames": 132}
|
| 463 |
+
{"episode_index": 462, "tasks": "keep doing suturing from the current observations", "num_frames": 120}
|
| 464 |
+
{"episode_index": 463, "tasks": "keep doing suturing from the current observations", "num_frames": 114}
|
| 465 |
+
{"episode_index": 464, "tasks": "keep doing suturing from the current observations", "num_frames": 63}
|
| 466 |
+
{"episode_index": 465, "tasks": "keep doing suturing from the current observations", "num_frames": 113}
|
| 467 |
+
{"episode_index": 466, "tasks": "keep doing suturing from the current observations", "num_frames": 57}
|
| 468 |
+
{"episode_index": 467, "tasks": "keep doing suturing from the current observations", "num_frames": 96}
|
Surgical/semaphor/open_h_semaphor_1_18/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
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|
|
|
Surgical/semaphor/open_h_semaphor_1_18/meta/info.json
ADDED
|
@@ -0,0 +1,117 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "panda",
|
| 4 |
+
"total_episodes": 470,
|
| 5 |
+
"total_frames": 50664,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 1410,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 470,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:329",
|
| 13 |
+
"val": "329:376",
|
| 14 |
+
"test": "376:470"
|
| 15 |
+
},
|
| 16 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 17 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 18 |
+
"features": {
|
| 19 |
+
"action": {
|
| 20 |
+
"dtype": "float32",
|
| 21 |
+
"shape": [
|
| 22 |
+
6
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"x",
|
| 26 |
+
"y",
|
| 27 |
+
"z",
|
| 28 |
+
"roll",
|
| 29 |
+
"pitch",
|
| 30 |
+
"yaw"
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"observation.images.cam_0": {
|
| 34 |
+
"dtype": "video",
|
| 35 |
+
"shape": [
|
| 36 |
+
1080,
|
| 37 |
+
1920,
|
| 38 |
+
3
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
"height",
|
| 42 |
+
"width",
|
| 43 |
+
"channels"
|
| 44 |
+
],
|
| 45 |
+
"info": {
|
| 46 |
+
"video.height": 1080,
|
| 47 |
+
"video.width": 1920,
|
| 48 |
+
"video.codec": "mp4v",
|
| 49 |
+
"video.pix_fmt": "yuv420p",
|
| 50 |
+
"video.is_depth_map": false,
|
| 51 |
+
"video.fps": 30,
|
| 52 |
+
"video.channels": 3,
|
| 53 |
+
"has_audio": false
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"observation.images.cam_1": {
|
| 57 |
+
"dtype": "video",
|
| 58 |
+
"shape": [
|
| 59 |
+
1080,
|
| 60 |
+
1920,
|
| 61 |
+
3
|
| 62 |
+
],
|
| 63 |
+
"names": [
|
| 64 |
+
"height",
|
| 65 |
+
"width",
|
| 66 |
+
"channels"
|
| 67 |
+
],
|
| 68 |
+
"info": {
|
| 69 |
+
"video.height": 1080,
|
| 70 |
+
"video.width": 1920,
|
| 71 |
+
"video.codec": "mp4v",
|
| 72 |
+
"video.pix_fmt": "yuv420p",
|
| 73 |
+
"video.is_depth_map": false,
|
| 74 |
+
"video.fps": 30,
|
| 75 |
+
"video.channels": 3,
|
| 76 |
+
"has_audio": false
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"observation.images.cam_2": {
|
| 80 |
+
"dtype": "video",
|
| 81 |
+
"shape": [
|
| 82 |
+
1080,
|
| 83 |
+
1920,
|
| 84 |
+
3
|
| 85 |
+
],
|
| 86 |
+
"names": [
|
| 87 |
+
"height",
|
| 88 |
+
"width",
|
| 89 |
+
"channels"
|
| 90 |
+
],
|
| 91 |
+
"info": {
|
| 92 |
+
"video.height": 1080,
|
| 93 |
+
"video.width": 1920,
|
| 94 |
+
"video.codec": "mp4v",
|
| 95 |
+
"video.pix_fmt": "yuv420p",
|
| 96 |
+
"video.is_depth_map": false,
|
| 97 |
+
"video.fps": 30,
|
| 98 |
+
"video.channels": 3,
|
| 99 |
+
"has_audio": false
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"observation.state": {
|
| 103 |
+
"dtype": "float32",
|
| 104 |
+
"shape": [
|
| 105 |
+
6
|
| 106 |
+
],
|
| 107 |
+
"names": [
|
| 108 |
+
"x",
|
| 109 |
+
"y",
|
| 110 |
+
"z",
|
| 111 |
+
"roll",
|
| 112 |
+
"pitch",
|
| 113 |
+
"yaw"
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
}
|
| 117 |
+
}
|
Surgical/semaphor/open_h_semaphor_1_18/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "keep doing suturing from the current observations"}
|