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constants.py
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### Robopen constants
CAMERA_NAMES = ['rgb_left','rgb_top','rgb_right','rgb_wrist']
## change this to train with less cameras
## text embeddings
## obtained from https://colab.research.google.com/github/huggingface/blog/blob/main/notebooks/80_getting_started_with_embeddings.ipynb#scrollTo=NL5TFD1ukn7W
TASKS = [
"Slide open drawer from left to right",
"Slide open drawer from right to left",
"Slide close drawer from left to right",
"Slide close drawer from right to left",
"Slide open drawer from left to right with a bowl on the table",
"Slide open drawer from right to left with a plate on the table",
"Slide close drawer from left to right with a plate on the table",
"Slide close drawer from right to left with a bowl on the table ",
"Slide open drawer",
"Slide close drawer",
"Pick butter from the drawer",
"Place butter on the table",
"Flap open oven door",
"Flap close oven door",
"Flap close",
"Flap close",
"Plunge toaster",
"Pick towel from the oven",
"Wipe counter from right to left",
"Wipe counter from left to right",
"Pick bowl from the oven",
"Place bowl on the table",
"Uncap lid from the jar",
"Uncap lid from the mug",
"Cap lid on the jar",
"Cap lid on the mug",
"Place lid on the table",
"Pick lid from the table",
"Pick teabag from the jar",
"Place teabag in the mug",
"Pick cup from the table",
"Place cup in the drawer",
"Flap open oven door with a towel on it",
"Flap close oven door with a towel on it",
"Flap open oven door with a bowl on it",
"Flap close oven door with a bowl on it",
"Cap lid on the jar with a bowl on the table",
"Cap lid on the mug with a bowl on the table",
]
TEXT_EMBEDDINGS = [[-0.01232353039085865, 0.020831076428294182, -0.005870897322893143, 0.05826884135603905, -0.06998619437217712, 0.10838121175765991, -0.061799272894859314, 0.0295866709202528, -0.03623126447200775, 0.036802515387535095, -0.019469548016786575, 0.04140273109078407, -0.055396586656570435, 0.059019505977630615, 0.02107071876525879, 0.03404979035258293, 0.032366614788770676, 0.050353407859802246, 0.032445866614580154, 0.053762294352054596, 0.0023062974214553833, -0.009352906607091427, 0.00030284313834272325, -0.06185755133628845, -0.03933900594711304, 0.01205351296812296, 0.0021228936966508627, -0.06676208227872849, -0.036119818687438965, 0.019254405051469803, -0.020388009026646614, -0.04490344971418381, -0.05982818081974983, 0.01629348285496235, 0.0022208155132830143, -0.033281225711107254, -0.11531753838062286, -0.03914197161793709, -0.025989513844251633, -0.0029572949279099703, -0.018069423735141754, -0.017949728295207024, 0.03938993066549301, -0.0525834821164608, 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