File size: 1,320 Bytes
a8b583c | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | {
"schema_version": "acwmbench.inference.ego.v1",
"task_name": "pulldrawer",
"episode_index": 0,
"episode_name": "ep000000",
"fps": 15.0,
"num_frames": 1867,
"num_transitions": 1866,
"seed_local_index": 0,
"embodiment": "ego_human_bimanual",
"files": {
"trajectory": "trajectory.parquet",
"calibration": "calibration.json",
"source_map": "source_map.json",
"observations": {
"top_head": "observations/top_head.png",
"hand_left": "observations/hand_left.png",
"hand_right": "observations/hand_right.png",
"head_stereo_left": "observations/head_stereo_left.png",
"head_stereo_right": "observations/head_stereo_right.png"
},
"controls": {
"hand_camera_poses": "controls/hand_camera_poses.npz",
"action_57d_spec": "controls/action_57d_spec.json"
},
"fisheye_calibration": "calibration_fisheye.json",
"fisheye_observations": {
"top_head": "observations/fisheye/top_head.png",
"hand_left": "observations/fisheye/hand_left.png",
"hand_right": "observations/fisheye/hand_right.png"
}
},
"active_projection": {
"views": [
"top_head",
"hand_left",
"hand_right"
],
"model": "pinhole",
"width": 640,
"height": 480,
"hfov_deg": 90.0,
"view_pitch_deg": 38.0
}
}
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