clean

examples/dataset/config.py

@@ -1,93 +0,0 @@
-XVLA_SOFT_FOLD_FEATURES = {
-    "observation.images.cam_high": {
-        "dtype": "video",
-        "names": ["height", "width", "channels"],
-        "shape": (256, 256, 3),
-        "names": ["height", "width", "rgb"],
-    },
-    "observation.images.cam_left_wrist": {
-        "dtype": "video",
-        "names": ["height", "width", "channels"],
-        "shape": (256, 256, 3),
-        "names": ["height", "width", "rgb"],
-    },
-    "observation.images.cam_right_wrist": {
-        "dtype": "video",
-        "names": ["height", "width", "channels"],
-        "shape": (256, 256, 3),
-        "names": ["height", "width", "rgb"],
-    },
-
-    "observation.states.eef_euler": {
-        "dtype": "float32",
-        "shape": (14,),   # 14 = 7 joints per arm × 2 arms OR 14-d state representation
-        "names": {"values": [f"eef_euler_{i}" for i in range(14)]},
-    },
-
-    "observation.states.eef_quaternion": {
-        "dtype": "float32",
-        "shape": (16,),   # 16 = 8 quaternion floats per arm × 2 arms
-        "names": {"values": [f"eef_quat_{i}" for i in range(16)]},
-    },
-
-    "observation.states.eef_6d": {
-        "dtype": "float32",
-        "shape": (20,),   # 20 = pos(3) + rot6d(6) + extra dims
-        "names": {"values": [f"eef6d_{i}" for i in range(20)]},
-    },
-
-    "observation.states.eef_left_time": {
-        "dtype": "float32",
-        "shape": (1,),
-        "names": {"values": ["eef_left_time"]},
-    },
-
-    "observation.states.eef_right_time": {
-        "dtype": "float32",
-        "shape": (1,),
-        "names": {"values": ["eef_right_time"]},
-    },
-
-    "observation.states.qpos": {
-        "dtype": "float32",
-        "shape": (14,),   # 7 per arm × 2 arms
-        "names": {"motors": [f"qpos_{i}" for i in range(14)]},
-    },
-
-    "observation.states.qvel": {
-        "dtype": "float32",
-        "shape": (14,),
-        "names": {"motors": [f"qvel_{i}" for i in range(14)]},
-    },
-
-    "observation.states.effort": {
-        "dtype": "float32",
-        "shape": (14,),
-        "names": {"motors": [f"effort_{i}" for i in range(14)]},
-    },
-
-    "observation.states.qpos_left_time": {
-        "dtype": "float32",
-        "shape": (1,),
-        "names": {"values": ["qpos_left_time"]},
-    },
-
-    "observation.states.qpos_right_time": {
-        "dtype": "float32",
-        "shape": (1,),
-        "names": {"values": ["qpos_right_time"]},
-    },
-
-    "action": {
-        "dtype": "float32",
-        "shape": (14,),
-        "names": {"motors": [f"joint_action_{i}" for i in range(14)]},
-    },
-
-    "time_stamp": {
-        "dtype": "float32",
-        "shape": (1,),
-        "names": {"values": ["global_timestamp"]},
-    },
-
-}

examples/dataset/draft.txt

@@ -1,59 +0,0 @@
-LIBERO_FEATURES = {
-    "observation.images.image": {
-        "dtype": "video",
-        "shape": (256, 256, 3),
-        "names": ["height", "width", "rgb"],
-    },
-    "observation.images.wrist_image": {
-        "dtype": "video",
-        "shape": (256, 256, 3),
-        "names": ["height", "width", "rgb"],
-    },
-    "observation.state": {
-        "dtype": "float32",
-        "shape": (8,),
-        "names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper", "gripper"]},
-    },
-    "observation.states.ee_state": {
-        "dtype": "float32",
-        "shape": (6,),
-        "names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3"]},
-    },
-    "observation.states.joint_state": {
-        "dtype": "float32",
-        "shape": (7,),
-        "names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]},
-    },
-    "observation.states.gripper_state": {
-        "dtype": "float32",
-        "shape": (2,),
-        "names": {"motors": ["gripper", "gripper"]},
-    },
-    "action": {
-        "dtype": "float32",
-        "shape": (7,),
-        "names": {"motors": ["x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper"]},
-    },
-}
-
-Everything are float32 except for language_instructions and images , are
-├── action # nx14 absolute bimanual joints, not used in our paper 
-├── base_action # nx2 chassis actions, not used in our paper 
-├── language_instruction # 🌟"fold the cloth"
-├── observations
-│   ├── eef # nx14 absolute eef pos using euler angles to represent the rotation, not used in our paper
-│   │   eef_quaternion # nx16 absolute eef pos using quaternion to represent the rotation, not used in our paper
-│   │   eef_6d # 🌟nx20 absolute eef pos using rotate6d to represent the rotation
-│   │   eef_left_time # 🌟nx1 the time stamp for left arm eef pos, can be used for resample or interpolation
-│   │   eef_right_time # 🌟nx1 the time stamp for right arm eef pos, can be used for resample or interpolation
-│   ├── qpos # nx14 absolute bimanual joints, not used in our paper
-│   ├── qpos_left_time # nx1 the time stamp for left arm joint pos, can be used for resample or interpolation, not used in our paper
-│   ├── qpos_right_time # nx1 the time stamp for right arm joint pos, can be used for resample or interpolation, not used in our paper
-│   ├── qvel # nx14 bimanual joint velocity, not used in our paper
-│   ├── effort # nx14 bimanual joint effort, not used in our paper
-│   ├── images
-│   │   ├── cam_high  # 🌟the encoded head cam view, should be decoded using cv2
-│   │   ├── cam_left_wrist  # 🌟the encoded left wrist view, should be decoded using cv2
-│   │   ├── cam_right_wrist  # 🌟the encoded right wrist view, should be decoded using cv2
-├── time_stamp # the time stamp for each sample, not used in our paper
-