| from groot.vla.data.schema import EmbodimentTag | |
| RAW_HDF5_FILENAME = "state_action.hdf5" | |
| RAW_METADATA_FILENAME = "metadata.json" | |
| RAW_VIDEO_FILENAME = "ego_view.mp4" | |
| RAW_ANNOTATION_FILENAME = "annotation.json" | |
| TRAINABLE_HDF5_FILENAME = "dataset.hdf5" | |
| TRAINABLE_METADATA_FILENAME = "metadata.json" | |
| RAW_DATA_CONTROL_FREQUENCY = 20 | |
| INITIAL_ACTIONS_FILENAME = "initial_actions.npz" | |
| EMBODIMENT_TAG_TO_ANNOTATED_VERSION = { | |
| EmbodimentTag.REAL_GR1_ARMS_ONLY: EmbodimentTag.REAL_GR1_ARMS_ONLY_ANNOTATED, | |
| EmbodimentTag.REAL_GR1_ARMS_WAIST: EmbodimentTag.REAL_GR1_ARMS_WAIST_ANNOTATED, | |
| # Special for 5DC-S | |
| EmbodimentTag.ROBOCASA_GR1_ARMS_ONLY_FOURIER_HANDS: EmbodimentTag.REAL_GR1_ARMS_ONLY_ANNOTATED, | |
| EmbodimentTag.ROBOCASA_GR1_ARMS_WAIST_FOURIER_HANDS: EmbodimentTag.REAL_GR1_ARMS_WAIST_ANNOTATED, | |
| } | |
| # For chopped data | |
| EPISODE_LENGTH_FILENAME = "episode_length.json" | |
| # Processed | |
| PROCESSED_VIDEO_FILENAME = "ego_view_pad_res224_freq20.mp4" | |