diff --git a/README.md b/README.md index b4e558b82653cff138281abf988556989f63349d..b3d9e4da5e5ed10a4fb3a4a95d41365789c6942e 100644 --- a/README.md +++ b/README.md @@ -17,6 +17,10 @@ It does not contain ground-truth target videos or evaluation results. | Policy | 48 | | **Total** | **268** | +## Human Hand input format + +Human Hand test episodes provide frame-0 camera observations, calibration, and absolute per-frame hand/camera poses. Delta-action tensors, internal source mappings, target videos, masks, prompts, and evaluation outputs are not included. Pose sample `t` corresponds to episode frame `t`; consumers should honor the `left_valid`, `right_valid`, and `camera_valid` arrays. + `test_manifest.json` is the canonical inventory. `SHA256SUMS` records the checksum of every uploaded file. Keep the repository private until the dataset release and access policy have been approved. diff --git a/SHA256SUMS b/SHA256SUMS index 23d2445cdc6b81dbd2cb2d84c7e96b3c35e0a389..86074607681cf4ba3b59581d1385ac991c987a1e 100644 --- a/SHA256SUMS +++ b/SHA256SUMS @@ -1,4 +1,4 @@ -662776c79ffb52c25d35c215d47cbd075b2148fbcfd40e0c18e8616c7e3fae49 README.md +e8f00a75e2e57b075175fc4cd5daba325e3296e0ffee61c98935e93d96cb2436 README.md f19841591b65e17541eb6ec16122e6da8e784e20ebc770bcdbc4133ea2289e00 agibot/README.md 449b7341c3154aeff9d6d0e9f513b3a41c15b231402c0f42d3da7ff721ccc3a8 agibot/hangtowel/ep000000/calibration.json c1512583f5427395831d24de097790ee6bec4ddf0674a797043189e73d685fbc agibot/hangtowel/ep000000/metadata.json @@ -489,1292 +489,973 @@ c8d825c75ae9b28471fe4aae8555c423ccb726a7569a362194d76fd615b2d354 agibot/pulldra bc1324bed0254ea74c1176070441715110efab807264bb352878ec66a454d93a agibot/pulldrawer/schema.json df111bf6c7323153b2276a004f1d758e483040e885e6d07619741c00544456d5 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f19841591b65e17541eb6ec16122e6da8e784e20ebc770bcdbc4133ea2289e00 policy/README.md 70d35222477728992eb73df6925f9519e610b242b067670d086c87da65a48fce policy/hangtowel/ep000008/calibration.json ed3c0730a16984df323b487329694df1d07229a79aa924ca1f2f5eda99f846c8 policy/hangtowel/ep000008/metadata.json @@ -2071,7 +1752,7 @@ bde3eefa1958fe4436227718716084ea5efea10ec8995a8d132008c72a012de3 policy/pourwat eb55ccf46595945312f4b846b239d50a8319c2f81f6e330525e5a4109d6e43e1 policy/pourwater/schema.json 2281a25f05b69b8bd093c19f84f2f15f0a0cc9c07e9eb0c460bcff0606ac8451 policy/pourwater/task.json 78d55a1cbe17601b8adb48bb876de655f938045dae8958961bee833d7092161c policy/schema.json -fe7522c481d7c494bf5094e2a7094b062ce58d992aadaf071b1e8a39e5ef56f2 test_manifest.json +ca0e7edd00bf04ab965ec03ee09b3e02dab5295e8d611c50f577c8b2d45ed05f test_manifest.json e11f6c7400974d5574450a459221ba788a558bf1a6b08713839f8078cbd7e304 yam/hangtowel/ep000000/calibration.json 2ba6ae3b58aa0ffaa669cfec3fee9aa0adbc130e67524f796f86c31b48ec0fac yam/hangtowel/ep000000/metadata.json d12ad6ea803086f6bbaf4a3acda17709cc64ea8f2e5a8fb5c1764300c3a46305 yam/hangtowel/ep000000/observations/hand_left.png diff --git a/human_hand/README.md b/human_hand/README.md index 4388f866916df6f9efdc1023547074726493d161..5fab484d9f9b7e2f4c7122a5f7878b4582b0627c 100644 --- a/human_hand/README.md +++ b/human_hand/README.md @@ -1,3 +1,11 @@ -# Ego-human ACWMBench inference dataset +# Human Hand test inputs -Canonical 15 FPS bimanual human-hand trajectories. The active `top_head`, `hand_left`, and `hand_right` observations are rectified 640x480 pinhole images (90 degree HFOV, 38 degree downward pitch). Original images and calibration are retained in `observations/fisheye/` and `calibration_fisheye.json`. Physical controls remain unchanged; read `calibration.json` for the source-to-virtual rotation. +This directory contains the input-only Human Hand portion of the WorldOracle +test split. Target videos, masks, prompts, evaluation outputs, delta-action +tensors, internal source mappings, and cleaning records are not included. + +Each episode provides frame-0 camera observations, camera calibration, and +per-frame absolute hand/camera poses in `controls/hand_camera_poses.npz`. +Pose sample `t` corresponds to episode frame `t`. The first released sample is +valid; any later unavailable measurements remain identified by the relevant +`*_valid` arrays and should be masked by downstream consumers. diff --git a/human_hand/SHA256SUMS b/human_hand/SHA256SUMS new file mode 100644 index 0000000000000000000000000000000000000000..299ab08252c40a5ae6396d92b4f59133c4f34a74 --- /dev/null +++ b/human_hand/SHA256SUMS @@ -0,0 +1,966 @@ +cfe15c69191d23240fed458f665697a1474b7cb4b7c06cde49f175a478b0bb28 README.md +7c71cdfb521b89c6fb25bf8840a442c716bcfdcd23a41ac320663d7f4d121b65 hangtowel/ep000000/calibration.json +11ae65ea66e32efdad579cabc17b8595b970164b19752121e32b106af03a8ce6 hangtowel/ep000000/calibration_fisheye.json +a8fd901a433bd8113a1534d063c8f17d4b7184f92efe9a0138dfadf9815f5cfa hangtowel/ep000000/controls/hand_camera_poses.npz +626973f762ff0c85315587bbbd11e9d1359a7f2d01a07d84ba70b945f7cec21a hangtowel/ep000000/metadata.json +686fdb8b237a11b8723d3a7e3327269c01458720940a03bbdc38ef61fd690a84 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607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000000/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000000/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000000/controls/hand_camera_poses.npz index b6095fbdedd47d3b8d48622b1041d61da283f3b1..9eebea5069d3116677bcb7e94cacd76f4e76094a 100644 --- a/human_hand/hangtowel/ep000000/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000000/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:88cbbadd6580f408b3e78a41697b7d4e82eecfea88fee1178cf45230beec3f9d -size 1761644 +oid sha256:a8fd901a433bd8113a1534d063c8f17d4b7184f92efe9a0138dfadf9815f5cfa +size 1760067 diff --git a/human_hand/hangtowel/ep000000/metadata.json b/human_hand/hangtowel/ep000000/metadata.json index 036fb2221b76a2b7de38858b3e159c68180aecd1..8b383586a48a8b28f648ad344b76558fc5dd5552 100644 --- a/human_hand/hangtowel/ep000000/metadata.json +++ b/human_hand/hangtowel/ep000000/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 0, "episode_name": "ep000000", "fps": 15.0, - "num_frames": 1841, - "num_transitions": 1840, + "num_frames": 1840, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000000/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000000/observations/fisheye/hand_left.png index a6840a9cfa502ffddcc9855af80f1f277462f560..ca137eb3a1c3ba5491e82996b8a0e8f467aff370 100644 --- a/human_hand/hangtowel/ep000000/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000000/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:77887f8b39c3ab766e776de2d98dffab78ec3233163b23af1b7ca05322b74214 -size 725162 +oid sha256:686fdb8b237a11b8723d3a7e3327269c01458720940a03bbdc38ef61fd690a84 +size 734626 diff --git a/human_hand/hangtowel/ep000000/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000000/observations/fisheye/hand_right.png index da86bd2dce6561b83a21b74ef867602c5d084fe3..8fd53a0311e2d6a141f64d5b6e3e9563c388845e 100644 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Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 17385178.0, - "pinhole_nonzero": 36564392.0, - "area_ratio": 2.1031934214306003 - }, - "multiview_masks/top_head": { - "source_nonzero": 18861165.0, - "pinhole_nonzero": 37530916.0, - "area_ratio": 1.989851422221268 - }, - "multiview_masks/hand_left": { - "source_nonzero": 10412557.0, - "pinhole_nonzero": 19206622.0, - "area_ratio": 1.8445634439264054 - }, - "multiview_masks/hand_right": { - "source_nonzero": 12673383.0, - "pinhole_nonzero": 22588287.0, - "area_ratio": 1.7823407530570172 - } - }, - "created_unix": 1789875738.2098904 -} diff --git a/human_hand/hangtowel/ep000000/source_map.json b/human_hand/hangtowel/ep000000/source_map.json deleted file mode 100644 index b9e3616b572db109c08d80ad021f4ce16341a64f..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000000/source_map.json +++ /dev/null @@ -1,1896 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000001/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000001/controls/hand_camera_poses.npz index edd9baf65a829f47afe7334634fb6c77ed95af5c..3af9e26408910b689071d3b9d3c4fd2be85fe740 100644 --- a/human_hand/hangtowel/ep000001/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000001/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:87e6b1a709bfe93316c26728eecf3ab658d1d73e7917fa36ed4de6713c20a6a5 -size 1755368 +oid sha256:28a2ae3fd22424c33d34f7ba43a43101f7e42b5883ad559f9b4a1e783d919b2a +size 1753785 diff --git a/human_hand/hangtowel/ep000001/metadata.json b/human_hand/hangtowel/ep000001/metadata.json index ccbd4409691838e0e2ed6c85f779db4282193ea5..ad026fc1f1c74e0dbae9e358e0b23c1557526d05 100644 --- a/human_hand/hangtowel/ep000001/metadata.json +++ b/human_hand/hangtowel/ep000001/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 1, "episode_name": "ep000001", "fps": 15.0, - "num_frames": 1828, - "num_transitions": 1827, + "num_frames": 1826, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000001/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000001/observations/fisheye/hand_left.png index 2d7b9366b4d7ccb29c670b51f46c133a20d1aae9..a648f00006e4164e01a3fc8b4c575cbeccad1909 100644 --- a/human_hand/hangtowel/ep000001/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000001/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f82a2e242a0b2dd8c45e1ec19094bc61dab0d76638f372455834abf7d7f99e62 -size 740696 +oid sha256:a6cfe2273ef2357ae821271e44e2151b929f2a59dc8c8d479d522fc78787e941 +size 763148 diff --git a/human_hand/hangtowel/ep000001/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000001/observations/fisheye/hand_right.png index 272178279eb41ca9a3a923068752c0fc6ef15f7a..3330c3ce503a182bc4a4b6c524f3809aee62fce1 100644 --- a/human_hand/hangtowel/ep000001/observations/fisheye/hand_right.png +++ b/human_hand/hangtowel/ep000001/observations/fisheye/hand_right.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:458107156ef253cad14a81bdd1443f2ae8e16f1abfd51e267a383ea5c5a4c05d -size 796046 +oid sha256:3b47d0c320553565a3e4ed0b13b72bb587fa03e9011678353cba24ebd4ccd446 +size 819046 diff --git a/human_hand/hangtowel/ep000001/observations/fisheye/top_head.png b/human_hand/hangtowel/ep000001/observations/fisheye/top_head.png index 034d8f09da21ad2e7404ba77357a4729e018efdf..9f78e883dfb8bc026a8b2a2cb4073e6abe1ab5f9 100644 --- a/human_hand/hangtowel/ep000001/observations/fisheye/top_head.png +++ b/human_hand/hangtowel/ep000001/observations/fisheye/top_head.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:aa40e84546d7e2f812c0b1a730ddbbe62de977d1514afcfd16bda88cd1a68979 -size 696838 +oid sha256:b19f478043f851ab19a02e8086e4116c9396afab77693ffb2cbc5e2444e1a3f7 +size 716666 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000003/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000003/controls/hand_camera_poses.npz index d8ffca3886e9deb0a9c80698fb3770dea4b62991..4205a1ba518d6eb1127025a41163857ed3a1dddb 100644 --- a/human_hand/hangtowel/ep000003/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000003/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2d6126de56192029e133970abe9f054aefa6d5bcdeab36a17a316e3b3719cfa1 -size 1791834 +oid sha256:ac8b08191bc93c6622cacb1b81195cec38822dee241804a41aa5184c7c9dd3ba +size 1790187 diff --git a/human_hand/hangtowel/ep000003/metadata.json b/human_hand/hangtowel/ep000003/metadata.json index 2655f822e44dc3071d80ba32f6509d2a83fa59b0..e815571fb2d5316449ab4e92b4569522d9e3f245 100644 --- a/human_hand/hangtowel/ep000003/metadata.json +++ b/human_hand/hangtowel/ep000003/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 3, "episode_name": "ep000003", "fps": 15.0, - "num_frames": 1860, - "num_transitions": 1859, + "num_frames": 1859, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000003/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000003/observations/fisheye/hand_left.png index 72b1e5f7a1a4984d4d870cd55f4d284720b2b5c1..23e74fce59eee8d3d6e8a3847cd1927e56b06f7e 100644 --- a/human_hand/hangtowel/ep000003/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000003/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:30055d652b70dd10d1d0b90a373053b2d93c5ae83b790bfe775968c55c8753ae -size 722491 +oid sha256:ebfa64cd814c2d1eaa6bc950f184753133e71d2fef62657bcb0bfb204b0428be +size 735005 diff --git a/human_hand/hangtowel/ep000003/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000003/observations/fisheye/hand_right.png index 8f041989d9de6267bd589a7e1240551b3e7bca49..c40fa398fbf4f05aca4c96ae22b4b560c9a420a8 100644 --- a/human_hand/hangtowel/ep000003/observations/fisheye/hand_right.png +++ b/human_hand/hangtowel/ep000003/observations/fisheye/hand_right.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ec7e52fba8fb32f2076d400ffb33174197e9e59ce2e5dd2c86b0f26eadf338d4 -size 807116 +oid sha256:a8176048c33e17e5efd20e325ae47ee105fcd91c6b412e665d1a43463a912aea +size 813814 diff --git a/human_hand/hangtowel/ep000003/observations/fisheye/top_head.png b/human_hand/hangtowel/ep000003/observations/fisheye/top_head.png index b58f93fc6d7d85fb4fde64fe2c3a47e69a395b94..23121163a2a1da92f52fab5041de147272b7807f 100644 --- a/human_hand/hangtowel/ep000003/observations/fisheye/top_head.png +++ b/human_hand/hangtowel/ep000003/observations/fisheye/top_head.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c9bce0869960beb57ce1a9814953b5a30936acb1d8866642c1f65507c3b2a72d -size 700182 +oid sha256:93da7f8c73e4ad7e0c9cf7e24394ef276bcc867a6bd8cbe154ed3ed4d943b7b2 +size 710608 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sha256:3e6646e5feabcad19b38cb75f77550e8c96bc67d151cd55cbc940abc8d2343a9 +size 347345 diff --git a/human_hand/hangtowel/ep000003/pinhole_migration.json b/human_hand/hangtowel/ep000003/pinhole_migration.json deleted file mode 100644 index 80099e91a6a03601e1a117280a566707f821843e..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000003/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "hangtowel", - "episode": "ep000003", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. 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"layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000004/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000004/controls/hand_camera_poses.npz index b0011e9cc5260fca507d31d800ff750ce29bfef8..8ce63e164e76e2c225a65bdcd6ae20efa2e2daad 100644 --- a/human_hand/hangtowel/ep000004/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000004/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eaf4b76738dbb1ea6189e553d05762aa66e4f7fcb3197cec84392017ce158511 -size 1787122 +oid sha256:c60badf1e075890e78407f9506804775457d7af4591e601e92f25f1533d6804e +size 1785414 diff --git a/human_hand/hangtowel/ep000004/metadata.json b/human_hand/hangtowel/ep000004/metadata.json index c75116256dc8828df080d0b3705e53047eff8168..ce38b2175be80a0ac103e7844211dc2137bc5928 100644 --- a/human_hand/hangtowel/ep000004/metadata.json +++ b/human_hand/hangtowel/ep000004/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 4, "episode_name": "ep000004", "fps": 15.0, - "num_frames": 1864, - "num_transitions": 1863, + "num_frames": 1863, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. 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246, - 316, - 411, - 494, - 563, - 645, - 718, - 797, - 870, - 952, - 1040, - 1115, - 1184, - 1272, - 1342, - 1412, - 1487, - 1569, - 1658, - 1737, - 1808 - ] -} diff --git a/human_hand/hangtowel/ep000004/trajectory.parquet b/human_hand/hangtowel/ep000004/trajectory.parquet deleted file mode 100644 index 9ea0976ca62ea8114d6d1518e5d7fd2d38d64328..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000004/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6479723a535ceeb2de121f21c6652593453e34dcf59b9541f2d0fa551801d841 -size 7776520 diff --git a/human_hand/hangtowel/ep000005/controls/action_57d_spec.json b/human_hand/hangtowel/ep000005/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000005/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000005/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000005/controls/hand_camera_poses.npz index 0cb8105db8d124d07b5727e7e46e265dd64e21a3..3c9f0ce0b371450ca3acc904f8c63e24c4e3a1e7 100644 --- a/human_hand/hangtowel/ep000005/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000005/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d21b4449333b7b9c5789122fba3511f79b88b3ec1138e030128d49d515f5b860 -size 1806397 +oid sha256:ad8ed9eb720be1976d66b564ae8014b4004c027b019618eef069242ca51bd312 +size 1804688 diff --git a/human_hand/hangtowel/ep000005/metadata.json b/human_hand/hangtowel/ep000005/metadata.json index 5d8628c74e8b6d7b1ec61790e905d81019b9ee34..3a080b989c10bd0e6d29b00732b1c171f844ed12 100644 --- a/human_hand/hangtowel/ep000005/metadata.json +++ b/human_hand/hangtowel/ep000005/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 5, "episode_name": "ep000005", "fps": 15.0, - "num_frames": 1866, - "num_transitions": 1865, + "num_frames": 1864, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000005/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000005/observations/fisheye/hand_left.png index 25df3fd0dc064156cd760e16331aeaadbc521b1f..3eadb7e6fb2cc791ed84b59f0d441517e32dc4dd 100644 --- a/human_hand/hangtowel/ep000005/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000005/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4a69687b3e12ca6a43637d63e3896107e1797b31632bb05663f2262a506704c2 -size 745255 +oid sha256:878f4b0b4ebaef489c62d3a21af5f1e379b7095e418da277a1aea263c97ca032 +size 782998 diff --git a/human_hand/hangtowel/ep000005/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000005/observations/fisheye/hand_right.png index 9b1773fb833cce3c701b45f70a84e288f8bdb11b..689532402036d3c543eae71dceda6a71795df6b7 100644 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74, - 159, - 234, - 309, - 382, - 459, - 546, - 606, - 674, - 748, - 822, - 890, - 966, - 1038, - 1108, - 1204, - 1273, - 1348, - 1425, - 1502, - 1579, - 1665, - 1748 - ] -} diff --git a/human_hand/hangtowel/ep000005/trajectory.parquet b/human_hand/hangtowel/ep000005/trajectory.parquet deleted file mode 100644 index a6e7c8b35d60987f78073d91ccdfe3529621d713..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000005/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:10564a0a2f69992af7db1ca716d11ebf15d09ae94c19347f6c06721a5a1dde29 -size 7821879 diff --git a/human_hand/hangtowel/ep000006/controls/action_57d_spec.json b/human_hand/hangtowel/ep000006/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000006/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000006/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000006/controls/hand_camera_poses.npz index ef39bc63de43755e30ed2a05c4e2f00e41088c87..f88e1894e3061b04c71cb611535fa3de4b221f55 100644 --- a/human_hand/hangtowel/ep000006/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000006/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3a4b0b6f916288aacfb45b85fc5cbb213251f25cd37873445a521a3cd250600d -size 1791385 +oid sha256:392844373470022aeb0301477e7c8e60b1d5b870d2cc826b78bc83a6d2d6db8b +size 1789905 diff --git a/human_hand/hangtowel/ep000006/metadata.json b/human_hand/hangtowel/ep000006/metadata.json index 916ac67eb0f35b218de0dc6f1f4db591005948af..d8bde73ae0eb398f4e3c8700cd989f2c362791e2 100644 --- a/human_hand/hangtowel/ep000006/metadata.json +++ b/human_hand/hangtowel/ep000006/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 6, "episode_name": "ep000006", "fps": 15.0, - "num_frames": 1865, - "num_transitions": 1864, + "num_frames": 1864, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000006/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000006/observations/fisheye/hand_left.png index 77491a4f004e324f2325793f064c52554f1f8aa3..e248ec56f846ac03c241b7c6f4131ae10e169544 100644 --- a/human_hand/hangtowel/ep000006/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000006/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9bd58fd44ea6466348c26d2920ac2afafc1f333e88b456fbfe63592a57190f54 -size 727649 +oid sha256:2b6a5fbfc11771fb1a082d3a6d2eb297fcc79ac8a96d842a575431215d800798 +size 731570 diff --git a/human_hand/hangtowel/ep000006/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000006/observations/fisheye/hand_right.png index 93dacaa2d3887cd1df01d7c53ccf923d9d839cc5..c3a79393e657048e6916f079f7a7df49b9124013 100644 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"width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000009/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000009/controls/hand_camera_poses.npz index 57a4b57bbc7645360dd4e90dba4c9dc1f5991143..1bc63bf8f3aa40d92e5fba51e55fa99095da824f 100644 --- a/human_hand/hangtowel/ep000009/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000009/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8783341046b1d422174327b4e2fc0e4e6f048ec9dc83893b76118a50c75d382c -size 1785670 +oid sha256:9d5ad670ed883ff48711c2a6719687416065f6d2f2af24e799f68c47535da4b1 +size 1784073 diff --git a/human_hand/hangtowel/ep000009/metadata.json b/human_hand/hangtowel/ep000009/metadata.json index 085ddb59feeb414fec3bd868c5d048c5385d5a11..3acf85760f5a25cca8fbf403939d273927c3b5dc 100644 --- a/human_hand/hangtowel/ep000009/metadata.json +++ b/human_hand/hangtowel/ep000009/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 9, "episode_name": "ep000009", "fps": 15.0, - "num_frames": 1849, - "num_transitions": 1848, + "num_frames": 1848, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000009/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000009/observations/fisheye/hand_left.png index c449d9942ed4be456b65327331a84b2a43333de1..5655ac17ced1e92d57c345a3abdc1abdc6ca52d4 100644 --- a/human_hand/hangtowel/ep000009/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000009/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:65cafbb7789d75b56304ec4bdb975192cca279a228eb96f0be29d42c10b69161 -size 753330 +oid sha256:e65136d3abe3a65e5b95748fa9795a1d73a6bc8bcde8949369bdda42be22dd81 +size 759745 diff --git a/human_hand/hangtowel/ep000009/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000009/observations/fisheye/hand_right.png index 559106a9655b266dd6c2cbc1a9c8f774a78ed144..a05020c12fe025a03ffde79684689ce9d60a661c 100644 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}, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000010/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000010/controls/hand_camera_poses.npz index b0dda05e78cb69b11af1604bb71facff4518f6a1..5ebbb3524c66566ac2e3448c4afb73a22343fbca 100644 --- a/human_hand/hangtowel/ep000010/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000010/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1149092d120fc1b37a3489042372282fbb0392df72a5c5e40f1109d2396fc9ff -size 1794900 +oid sha256:559bf1e5368b2d50241874db05d4f3033f17c0eafec49f39854cce15b5c826e3 +size 1793322 diff --git a/human_hand/hangtowel/ep000010/metadata.json b/human_hand/hangtowel/ep000010/metadata.json index 66d046819c20ee7685e9eaee150856a1edfb813b..0e878ddea7727779be8f8bf327a8b869f35ad86e 100644 --- a/human_hand/hangtowel/ep000010/metadata.json +++ b/human_hand/hangtowel/ep000010/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 10, "episode_name": "ep000010", "fps": 15.0, - "num_frames": 1867, - "num_transitions": 1866, + "num_frames": 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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. 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80, - 155, - 238, - 314, - 388, - 460, - 534, - 612, - 691, - 770, - 842, - 910, - 983, - 1064, - 1148, - 1217, - 1298, - 1369, - 1454, - 1532, - 1624, - 1702, - 1794 - ] -} diff --git a/human_hand/hangtowel/ep000010/trajectory.parquet b/human_hand/hangtowel/ep000010/trajectory.parquet deleted file mode 100644 index 01c88260b3cce71674d7267a6d75a6ea29b79631..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000010/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:00473162e9aecd066aab2b17d2e1dfa3e76f80e505421d890ec16434e94033ce -size 7803697 diff --git a/human_hand/hangtowel/ep000012/controls/action_57d_spec.json b/human_hand/hangtowel/ep000012/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000012/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000012/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000012/controls/hand_camera_poses.npz index 324a4c8c919b9b3e6acff35eb5b062524c5b3882..fd5dddd1094bcf6946a898a9609157356e5ea452 100644 --- a/human_hand/hangtowel/ep000012/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000012/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:90d79cbf559828be71574b45c09109ed8bed778054dd63c585b6c73034d9d9cc -size 1772306 +oid sha256:5967287b0265b3c26863fa9da21de6f2c9231a6978e6e31b1e7842eebbbf2972 +size 1770759 diff --git a/human_hand/hangtowel/ep000012/metadata.json b/human_hand/hangtowel/ep000012/metadata.json index 7cadfdc690e0b4fd9b0db73ceb6a396d03ebc378..8250a71b2f4cf0b157264f16a9d615855f3ffb0d 100644 --- a/human_hand/hangtowel/ep000012/metadata.json +++ b/human_hand/hangtowel/ep000012/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 12, "episode_name": "ep000012", "fps": 15.0, - "num_frames": 1844, - "num_transitions": 1843, + "num_frames": 1843, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000012/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000012/observations/fisheye/hand_left.png index 0aa26876f143565084a1f7e032049ab6d1c73317..4174c5719424cdf7bc93e364b5c7d985b618979c 100644 --- a/human_hand/hangtowel/ep000012/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000012/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7608d155aed91ca57223644ce02d1bf8da077b42a571d4cd4d734427b237c117 -size 730787 +oid sha256:aa2eb0cb803066c6c344cab878695cefc57196f7671315399b91fb6a7465b742 +size 733491 diff --git a/human_hand/hangtowel/ep000012/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000012/observations/fisheye/hand_right.png index 4170541ff217a4b4311115edde214b8953ec2785..b41db97431f40430cdeaf39ea2606ae6902d873e 100644 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] -} diff --git a/human_hand/hangtowel/ep000012/trajectory.parquet b/human_hand/hangtowel/ep000012/trajectory.parquet deleted file mode 100644 index ed3a1df00ea94594352a08851497a4fee281089e..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000012/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d8ebfb06427a1600c6945d614691048e16a31e8390a3684129dedc4727f2dcf0 -size 7693635 diff --git a/human_hand/hangtowel/ep000013/controls/action_57d_spec.json b/human_hand/hangtowel/ep000013/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000013/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000013/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000013/controls/hand_camera_poses.npz index 134ed6764606497af6b8a4c3669cf6dc53ec2e61..6aaf30cd67c9bb6e1d2e5cdcde5a062c1b8aac6d 100644 --- a/human_hand/hangtowel/ep000013/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000013/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e15cb3a5dc2a5073c5de0dfb7c693742d8523ec5019e11640a0f24d6948a9600 -size 1786255 +oid sha256:3c8f683b49bb16bef3a8d6f83770a2e4eb9f3dc7be52911a0c402ef2b84ace4e +size 1784642 diff --git a/human_hand/hangtowel/ep000013/metadata.json b/human_hand/hangtowel/ep000013/metadata.json index ecbe8fe2fbcb6e93601d21d307e447311bbe5512..a3f63a6e46753e2ddf01a725295132b4a9ff64b5 100644 --- a/human_hand/hangtowel/ep000013/metadata.json +++ b/human_hand/hangtowel/ep000013/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 13, "episode_name": "ep000013", "fps": 15.0, - "num_frames": 1852, - "num_transitions": 1851, + "num_frames": 1851, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000013/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000013/observations/fisheye/hand_left.png index 99a28137df97434dbdc6ceedc233fbf258b274ad..f9f6c179a39b962132288664118dc9087d9f48ee 100644 --- a/human_hand/hangtowel/ep000013/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000013/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7296d3ec8006035a9fc5127a537f300f33138dea0c9804acd557b6d887bd43f1 -size 695297 +oid sha256:6bcdf4cdb96e421b1d81d8d0a89aeb3b59dcf5314f4b425f7c8c0f93510d5652 +size 717284 diff --git a/human_hand/hangtowel/ep000013/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000013/observations/fisheye/hand_right.png index 20556cfe3149975c061b585e2b1029e7252e7ea7..f3983a2985cdcfb88e28fe0a82f49dab02a1eee9 100644 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sha256:84daac7fb8bf47a5c59828509c09693f891909221c94ea853b867554b0207ad8 +size 336985 diff --git a/human_hand/hangtowel/ep000013/pinhole_migration.json b/human_hand/hangtowel/ep000013/pinhole_migration.json deleted file mode 100644 index f716db263ecbb161eab2b8792578b04aee49194b..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000013/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "hangtowel", - "episode": "ep000013", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. 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1141, - 1214, - 1289, - 1364, - 1438, - 1520, - 1589, - 1667, - 1735, - 1802 - ] -} diff --git a/human_hand/hangtowel/ep000013/trajectory.parquet b/human_hand/hangtowel/ep000013/trajectory.parquet deleted file mode 100644 index 79124a0cc7f65eeb53a86ec06a06252265b262bb..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000013/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0bec8979c050eb7906dcc758c0444132e644e5fad46f410e4a1e6a8a40003f64 -size 7750500 diff --git a/human_hand/hangtowel/ep000014/controls/action_57d_spec.json b/human_hand/hangtowel/ep000014/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000014/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000014/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000014/controls/hand_camera_poses.npz index 5803c4e418b9bf49ea1f23b35e6fb2fa2b7743e7..7d9fdb329e7cc1a0cef9dc4385befaecce7a027d 100644 --- a/human_hand/hangtowel/ep000014/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000014/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9a87c72f705b570ede5cafa20051a27a99c52bd08b7738bf186cfece944c887a -size 1811799 +oid sha256:bd6c624823a823ecb4cce3a6e4b76e52388006afed7c702d8038d1d21a48bcb4 +size 1810285 diff --git a/human_hand/hangtowel/ep000014/metadata.json b/human_hand/hangtowel/ep000014/metadata.json index 063c4282a64ed677a5c9228fdc28a4b9a86e0e07..eae7653072b22ac00222bdbc94d14561b509b4ea 100644 --- a/human_hand/hangtowel/ep000014/metadata.json +++ b/human_hand/hangtowel/ep000014/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 14, "episode_name": "ep000014", "fps": 15.0, - "num_frames": 1881, - "num_transitions": 1880, + "num_frames": 1880, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. 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3786, - 4101, - 4451, - 4780, - 5047, - 5343, - 5618, - 5909, - 6346, - 6654, - 6939, - 7217 - ], - "canonical_keyframes": [ - 77, - 157, - 231, - 308, - 388, - 472, - 551, - 628, - 704, - 782, - 863, - 946, - 1025, - 1113, - 1195, - 1262, - 1336, - 1404, - 1477, - 1586, - 1664, - 1735, - 1804 - ] -} diff --git a/human_hand/hangtowel/ep000014/trajectory.parquet b/human_hand/hangtowel/ep000014/trajectory.parquet deleted file mode 100644 index 97c09aa85aba792c86fe66f56d0378ac59b5778f..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000014/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:dc306de2f0c21a56746bb4af5de8d1332b25b0bb4e432f0d7c8e4955c5b4e085 -size 7873434 diff --git a/human_hand/hangtowel/ep000016/controls/action_57d_spec.json b/human_hand/hangtowel/ep000016/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000016/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000016/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000016/controls/hand_camera_poses.npz index 4c00391aef5e23c0ba063d86006626cbbd3bcf90..f98bae731014b4b9623bbf3085bef8cece07f96b 100644 --- a/human_hand/hangtowel/ep000016/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000016/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ff09219f96f39f1a91884e8bf22c31d8fc333628d4af46fffac99e2f34f7b704 -size 1775442 +oid sha256:353cdd05cfc029fa31324019b81a2b4650b32ec361f3dd41d418af0fcdb51309 +size 1773776 diff --git a/human_hand/hangtowel/ep000016/metadata.json b/human_hand/hangtowel/ep000016/metadata.json index 9ceea9c710d8b728aa21ad91e57c38e2a04c8f90..27ff091d636d2c2510033a000eaecd5fc15e9593 100644 --- a/human_hand/hangtowel/ep000016/metadata.json +++ b/human_hand/hangtowel/ep000016/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 16, "episode_name": "ep000016", "fps": 15.0, - "num_frames": 1847, - "num_transitions": 1846, + "num_frames": 1846, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000016/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000016/observations/fisheye/hand_left.png index c2e90f7efdb4546d0697f97e7d21512c67c49362..573d6055b92f3e3611694e41b63ce3c18ef5a023 100644 --- a/human_hand/hangtowel/ep000016/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000016/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9900063618949ef98ba63560a5bf604c3ed897639184be474d2e714557e0b707 -size 808699 +oid sha256:246b5bef76b7f724159bac29f0f1db9bc57eb8247396d0a88f450bfedf15864a +size 808497 diff --git a/human_hand/hangtowel/ep000016/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000016/observations/fisheye/hand_right.png index c0ff7bba23f496012802c19828a7c7b7779a5e3e..ef8face101d861b8222b94623d2dcbc314c39d3a 100644 --- a/human_hand/hangtowel/ep000016/observations/fisheye/hand_right.png +++ b/human_hand/hangtowel/ep000016/observations/fisheye/hand_right.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e2d4d2a9d6c005adbf5a3f7cf2d52b9efba9fb5eea7729b3cfccd26289cf0c87 -size 880395 +oid sha256:de9fec07609becfdcbabc2b79c1da229066bbe73adcb16db811bf3d910a67ab5 +size 878476 diff --git a/human_hand/hangtowel/ep000016/observations/fisheye/top_head.png b/human_hand/hangtowel/ep000016/observations/fisheye/top_head.png index dc25522969f44475f57e1645c9ca1f802fa465ad..6b6fca155b7a2e6f0c80d607627d803c584cc61a 100644 --- a/human_hand/hangtowel/ep000016/observations/fisheye/top_head.png +++ b/human_hand/hangtowel/ep000016/observations/fisheye/top_head.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9adf980ec8346923f4df404366d998a60872739a376b2e152043a59be9aaa8eb -size 780105 +oid sha256:60c84a0cc6ab955ebb0563b4bac26a28e0ceb8c30037a11bf1ce03855d5289e4 +size 775931 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1611, - 1690, - 1762 - ] -} diff --git a/human_hand/hangtowel/ep000016/trajectory.parquet b/human_hand/hangtowel/ep000016/trajectory.parquet deleted file mode 100644 index 6a3e330ceb3a3f884cc9361ba89ff3f57d191111..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000016/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:79e42336dbbc0ccd5f46351f99ed134f6b6c4f91a1cfedde6b7b2e2b611db61b -size 7704210 diff --git a/human_hand/hangtowel/ep000017/controls/action_57d_spec.json b/human_hand/hangtowel/ep000017/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000017/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000017/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000017/controls/hand_camera_poses.npz index 1ec4fdfc2173a8da126d1a227ce494a51bcee53d..f454edae9a6b30eea992192347f65d158a3dd49e 100644 --- a/human_hand/hangtowel/ep000017/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000017/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ac665a4e9060d9ccf7a33e746bf48831dc0042e445c15b854f0ef9890a90c89b -size 1777709 +oid sha256:2721c47fab2c2152ab5eb084562c490fb48cebca55558ff05ff90eee59367782 +size 1776255 diff --git a/human_hand/hangtowel/ep000017/metadata.json b/human_hand/hangtowel/ep000017/metadata.json index 1fa45927fb7490a3aca193fbf1fec6078bab4ffa..fbb0fd2e249e92c76ab765b8254ce47084d26510 100644 --- a/human_hand/hangtowel/ep000017/metadata.json +++ b/human_hand/hangtowel/ep000017/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 17, "episode_name": "ep000017", "fps": 15.0, - "num_frames": 1844, - "num_transitions": 1843, + "num_frames": 1843, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000017/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000017/observations/fisheye/hand_left.png index 30f2f854ac865a04157661a09171c67db9ebf96c..fc8a72fa0dbd69405049634831ab9d6357233b0a 100644 --- a/human_hand/hangtowel/ep000017/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000017/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f52df1ca9666be355ceec028e0beaa85c5efdbe4fe1ca59c3f8931f8cf9a2022 -size 787443 +oid sha256:f98bab1815049ff8b698d33da5740dd9b646c29e7b3592eaa604c68e25484a1f +size 788322 diff --git a/human_hand/hangtowel/ep000017/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000017/observations/fisheye/hand_right.png index 40b4fd5e3cc9a72e8b03acf018c838d5b1882257..d08f96b45b0e875568f1ae886ba6f813bb6439c7 100644 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] -} diff --git a/human_hand/hangtowel/ep000017/trajectory.parquet b/human_hand/hangtowel/ep000017/trajectory.parquet deleted file mode 100644 index 92f4cb3bbba2c259dd141b838ecb2f9c1babe499..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000017/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:68b553ab9399fafbac4ca364d792ea3e2b58220b7f243a83d16fc731d163ce53 -size 7712986 diff --git a/human_hand/hangtowel/ep000018/controls/action_57d_spec.json b/human_hand/hangtowel/ep000018/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000018/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000018/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000018/controls/hand_camera_poses.npz index d1f4abe5d64fc0a61f9bfc542c9919ba1f41fe53..4004582e464a42169f23cc47ab03fdf3c5d14c1a 100644 --- a/human_hand/hangtowel/ep000018/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000018/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d289caf7a54f393708d448e595532a15c0ef156b5cfb17dc7c8d5606b122f13f -size 1774282 +oid sha256:913a881fce922cd839d936cd8c75c31c29d2500727c2583a873e01ec36d16ed5 +size 1772839 diff --git a/human_hand/hangtowel/ep000018/metadata.json b/human_hand/hangtowel/ep000018/metadata.json index 791d33b5b224173b67a9f782f77095602d2a7dc3..1ecff22c1522a4494f78300e3955147a65ff8afa 100644 --- a/human_hand/hangtowel/ep000018/metadata.json +++ b/human_hand/hangtowel/ep000018/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 18, "episode_name": "ep000018", "fps": 15.0, - "num_frames": 1862, - "num_transitions": 1861, + "num_frames": 1861, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000018/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000018/observations/fisheye/hand_left.png index 834863a06ba63cf8961de9377e17d0ad3f326a9f..99df3e162e265caad9b738c171bd044e33138c7a 100644 --- a/human_hand/hangtowel/ep000018/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000018/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a8490ffbe382bc781b51310073496f0237abc09c310069349846354b7939e049 -size 786976 +oid sha256:094cc9ee5e67f59de9c543ab33b47554e0b73892e7b218c3e67745a976edc82d +size 794076 diff --git a/human_hand/hangtowel/ep000018/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000018/observations/fisheye/hand_right.png index ea28103e51a22626dcb433085cde5fcdcf7f06c1..bfc6cd020ea688d7c71cfa6e4c6258d40b49d3af 100644 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388, - 458, - 537, - 612, - 689, - 771, - 847, - 916, - 987, - 1077, - 1162, - 1245, - 1317, - 1396, - 1466, - 1544, - 1622, - 1696, - 1773 - ] -} diff --git a/human_hand/hangtowel/ep000018/trajectory.parquet b/human_hand/hangtowel/ep000018/trajectory.parquet deleted file mode 100644 index 4fa82a596e034bc0c05bc0b7c6a1b31db3348ab2..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000018/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0856098333d690b1baa7d3fdbc5d1b6217098c12bb201bb50af748a14bfdb712 -size 7702507 diff --git a/human_hand/hangtowel/ep000019/controls/action_57d_spec.json b/human_hand/hangtowel/ep000019/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000019/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000019/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000019/controls/hand_camera_poses.npz index e886d80297950063bf9610f0a7630e1095b2dac8..a0517d40a928b00e1d077f3c1b2cb7ab4450a15e 100644 --- a/human_hand/hangtowel/ep000019/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000019/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1d486b606731495afe544630457827e3bc74d1b6d8b923ad71156da239cd8ead -size 1783949 +oid sha256:e13ad1b2e8a777c8a3cb142bbc34172b23f58aa7914ce752b43511c1d7a11306 +size 1782421 diff --git a/human_hand/hangtowel/ep000019/metadata.json b/human_hand/hangtowel/ep000019/metadata.json index 12c0c0149a0d8638bbf8144587db303b53fbf206..9ea4302fbef378eaf61b1e7d9fcbe05db9a5905b 100644 --- a/human_hand/hangtowel/ep000019/metadata.json +++ b/human_hand/hangtowel/ep000019/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 19, "episode_name": "ep000019", "fps": 15.0, - "num_frames": 1849, - "num_transitions": 1848, + "num_frames": 1848, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000019/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000019/observations/fisheye/hand_left.png index 463565d98c0d7d78a4296c7c377836eabde6f93e..fa2c4284d19119aa42513cfbd5a10b74c88b45ee 100644 --- a/human_hand/hangtowel/ep000019/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000019/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:14ee6d762b474ca5c01eed9f1e35a15250291c7bbf3ea1ca7ff6684d5c8f8b9c -size 768394 +oid sha256:e7168969cbf90ffc6254cf59dcf76129011b8144b54b2c1725e9fbfc4f1932a7 +size 773067 diff --git a/human_hand/hangtowel/ep000019/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000019/observations/fisheye/hand_right.png index 34398daab704b77e9afb1837571459f1cbf5eabb..f773664c04c2286c90bf55dd71b64a6817ef17fb 100644 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1466, - 1553, - 1632, - 1714, - 1787 - ] -} diff --git a/human_hand/hangtowel/ep000019/trajectory.parquet b/human_hand/hangtowel/ep000019/trajectory.parquet deleted file mode 100644 index fd6fd889e4c391ac1d534aeb4e70b9e1a9dc939d..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000019/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e5200cf0b657e939934baa648986b4bbdd9d388fd3778fcd51d5bf2d1edaf7ff -size 7738178 diff --git a/human_hand/hangtowel/ep000020/controls/action_57d_spec.json b/human_hand/hangtowel/ep000020/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000020/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000020/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000020/controls/hand_camera_poses.npz index c4ff1e6fc0ce585785c4837aa172b0e094dab4aa..7115076388fc5417aa6c4cc1455f75176ba46793 100644 --- a/human_hand/hangtowel/ep000020/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000020/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e84830a3490963472bd0d18ba533f22365db9a293842e190bc6928d8839e6f43 -size 1786536 +oid sha256:bc936cf4408651a734d0b28bab3704afd936137f8af31766c4433b7d3cacc347 +size 1784995 diff --git a/human_hand/hangtowel/ep000020/metadata.json b/human_hand/hangtowel/ep000020/metadata.json index bdf743a5f4c9592eb364bbbaf807f8e2bcb8cdca..8554d34a042f648a8f075769e3a32a2a4a3928ef 100644 --- a/human_hand/hangtowel/ep000020/metadata.json +++ b/human_hand/hangtowel/ep000020/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 20, "episode_name": "ep000020", "fps": 15.0, - "num_frames": 1850, - "num_transitions": 1849, + "num_frames": 1849, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000020/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000020/observations/fisheye/hand_left.png index 6c0969ff2a18e678766eafdcd7bbfa6d80595064..d95750473318fb4880761aaaedfa450b77001571 100644 --- a/human_hand/hangtowel/ep000020/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000020/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3ae76e4192319afa95fef7866972b92ec2d5790684a751d8dae21072e8baa6d6 -size 760076 +oid sha256:558129772acd8c434c56ffa6958304e83d2ec40f7b778231c1fd474c4589f8b6 +size 778281 diff --git a/human_hand/hangtowel/ep000020/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000020/observations/fisheye/hand_right.png index 3c2eb5dec6ef06710d82f800b689e2539974aa3e..dcd4cee02913381f286ca9fb860cdfb7003af268 100644 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1398, - 1471, - 1560, - 1635, - 1719, - 1800 - ] -} diff --git a/human_hand/hangtowel/ep000020/trajectory.parquet b/human_hand/hangtowel/ep000020/trajectory.parquet deleted file mode 100644 index a6e355c0dfa64070c37300b094232e43a563aee6..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000020/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:dfde02a1e8532b262af008a65cc49df7947912d2b9da3405cf7ef85867cd19f0 -size 7748251 diff --git a/human_hand/hangtowel/ep000021/controls/action_57d_spec.json b/human_hand/hangtowel/ep000021/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000021/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000021/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000021/controls/hand_camera_poses.npz index d1ad30fd408cf2adc9c435d8302d33ddc925edbb..493a27619ea62d60583dfcdc7607636db8c04d70 100644 --- a/human_hand/hangtowel/ep000021/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000021/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b84b56cd15f9fa64707bd71c82e61ab2aaf29f18b8e5a51435d7e6a2bb8cc4b7 -size 1779356 +oid sha256:6dbe659ab85fec9071e106319bd5dd70f4d97155a8654a89d41714e6b437e0a7 +size 1777762 diff --git a/human_hand/hangtowel/ep000021/metadata.json b/human_hand/hangtowel/ep000021/metadata.json index 7361660534bee219f18dc3a63d474336dbac9dd8..f49e722699422a7d0ae6302b82a48b3566ef1310 100644 --- a/human_hand/hangtowel/ep000021/metadata.json +++ b/human_hand/hangtowel/ep000021/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 21, "episode_name": "ep000021", "fps": 15.0, - "num_frames": 1850, - "num_transitions": 1849, + "num_frames": 1849, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000021/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000021/observations/fisheye/hand_left.png index 1bf1209e65587c88e7e2f00a768fc75594c943b2..3852aa34f3237de556a1364eba3d5bda62aa744a 100644 --- a/human_hand/hangtowel/ep000021/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000021/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9f88358052e87e134da529af855833cfa3496a42c2f00acc088016952271fcfd -size 752550 +oid sha256:faa5377659fb70a8d8c63fbe753413e2b2266d68038866932dc08820b211442a +size 771265 diff --git a/human_hand/hangtowel/ep000021/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000021/observations/fisheye/hand_right.png index c9e48a15d5917723004195da082bea12b87c0b4b..a08f864c7d841e0b61b8637b346f7a56f0972313 100644 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1388, - 1469, - 1547, - 1621, - 1698, - 1777 - ] -} diff --git a/human_hand/hangtowel/ep000021/trajectory.parquet b/human_hand/hangtowel/ep000021/trajectory.parquet deleted file mode 100644 index b1fad4c07e5dc476d65c1ddc3da726dd2fafbfde..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000021/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6fc63ba8b5825bc42d4677639a520a8bf1bbc87edd7bc3bb47a0f7aebe80ead9 -size 7721948 diff --git a/human_hand/hangtowel/ep000022/controls/action_57d_spec.json b/human_hand/hangtowel/ep000022/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000022/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000022/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000022/controls/hand_camera_poses.npz index 2b0fb750e14ed1bd8240e00a1273bebfd60196ae..3f93939d07e1180d6dff0dcd4b661a953f0eb38a 100644 --- a/human_hand/hangtowel/ep000022/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000022/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a4883e966c7ebc352e490fa65a260e328b6140c2d95c8222c3753bf35370f45b -size 1798453 +oid sha256:6d953ed829c822d8133f39f46e5c28877054e09fc2292c2eb67a1af6d08c5b3e +size 1796888 diff --git a/human_hand/hangtowel/ep000022/metadata.json b/human_hand/hangtowel/ep000022/metadata.json index 20375202b5e64727e67fb1ddeb1f67099d41f3a3..8184c8a5daffbb249faff7e432dfd9e297032bd9 100644 --- a/human_hand/hangtowel/ep000022/metadata.json +++ b/human_hand/hangtowel/ep000022/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 22, "episode_name": "ep000022", "fps": 15.0, - "num_frames": 1855, - "num_transitions": 1854, + "num_frames": 1854, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000022/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000022/observations/fisheye/hand_left.png index 7ddef660af13aeb30ecbecd71ff44395c72ba98d..1b782bc8a783c3f43fabd13b6b0bceeb730837a0 100644 --- a/human_hand/hangtowel/ep000022/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000022/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:339469477e312916f94007a3b47376565f039ea787cc975308bcf57e1681027a -size 737131 +oid sha256:6a8922fa8aa298b291d635d0f24c7a0b5e41f0702b397268aa8ed930902ee8fd +size 752320 diff --git a/human_hand/hangtowel/ep000022/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000022/observations/fisheye/hand_right.png index a3a98513b054859d56c3d1050e2aed2ee0b0e4a8..b9aeb5c6856ea9d0f58be34bddc2ae8d53f493ab 100644 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1086, - 1166, - 1250, - 1347, - 1427, - 1503, - 1587, - 1663, - 1751 - ] -} diff --git a/human_hand/hangtowel/ep000022/trajectory.parquet b/human_hand/hangtowel/ep000022/trajectory.parquet deleted file mode 100644 index 858165147d8877e866a793f32d26e402a6e2b6e3..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000022/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:baeaf67a97d1d694d9cef74850be7100ae3d5b4564e60e79f20d6c57c84cf8f4 -size 7794580 diff --git a/human_hand/hangtowel/ep000023/controls/action_57d_spec.json b/human_hand/hangtowel/ep000023/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000023/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000023/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000023/controls/hand_camera_poses.npz index fcaf34f0c8390b9b790e4105f159f12056bc92eb..895748e4dcb7200439d983ee2cf960ee38a7d899 100644 --- a/human_hand/hangtowel/ep000023/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000023/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:07987a500997c9bfc766e148a4963c3e9d4d49d07591bdfee86149748ad649ff -size 1774643 +oid sha256:4c1146ffccb5173d398e6ca12fcc4a2c21ad4dcfceaf8e72965c5de6f614e37d +size 1773236 diff --git a/human_hand/hangtowel/ep000023/metadata.json b/human_hand/hangtowel/ep000023/metadata.json index 9cd81a93e0f1c54adf427866684e0b57a9436556..3ce98644b3fc065c7318cee1fd838f40cd269dca 100644 --- a/human_hand/hangtowel/ep000023/metadata.json +++ b/human_hand/hangtowel/ep000023/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 23, "episode_name": "ep000023", "fps": 15.0, - "num_frames": 1847, - "num_transitions": 1846, + "num_frames": 1846, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000023/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000023/observations/fisheye/hand_left.png index a27d05910610093aede9ae9cd278a5c591af627d..8a48a53d73f707b45eac6b639f85560b3541d940 100644 --- a/human_hand/hangtowel/ep000023/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000023/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5624b22cf91460f1395b6159c9f514d50f53727224a14bcd0eba0e56078bf4da -size 798965 +oid sha256:ca1462e5651bea6f14806f51256a6528e8d37cce1c470d402407ccfdeede8e16 +size 802921 diff --git a/human_hand/hangtowel/ep000023/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000023/observations/fisheye/hand_right.png index 5325f8c748aa8ca814c954efc82e34a95aac66ca..688990adc858455572e399d5ce10d4c57e861367 100644 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1716 - ] -} diff --git a/human_hand/hangtowel/ep000023/trajectory.parquet b/human_hand/hangtowel/ep000023/trajectory.parquet deleted file mode 100644 index dd111275ddecaee33705021adf7846320c6de0c4..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000023/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a67d9489831c163c2ec552af5d7729974b219ebf36f86d9a41219205a6604719 -size 7704159 diff --git a/human_hand/hangtowel/ep000024/controls/action_57d_spec.json b/human_hand/hangtowel/ep000024/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000024/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/hangtowel/ep000024/controls/hand_camera_poses.npz b/human_hand/hangtowel/ep000024/controls/hand_camera_poses.npz index fcb0d898109c7280845a76e3260b25f8a029d0cf..561c4ff21458a41924c4229917e866b67c9a7dc8 100644 --- a/human_hand/hangtowel/ep000024/controls/hand_camera_poses.npz +++ b/human_hand/hangtowel/ep000024/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:684e71f14792a3b5e3a9ba728070c830dd154ff0dcf44bb0588db4a7d01aca96 -size 1786566 +oid sha256:528ccb40685350d8a9ec268ea663b6d63ef6ebde8e1196ea0c7fbf8ae81ae77f +size 1785132 diff --git a/human_hand/hangtowel/ep000024/metadata.json b/human_hand/hangtowel/ep000024/metadata.json index e4a22b12a078fb0507af787cef24c8a02779f274..e8d5d38a284f367d2c15b4cfee5f168f5ade0dcb 100644 --- a/human_hand/hangtowel/ep000024/metadata.json +++ b/human_hand/hangtowel/ep000024/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "hangtowel", "episode_index": 24, "episode_name": "ep000024", "fps": 15.0, - "num_frames": 1847, - "num_transitions": 1846, + "num_frames": 1846, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/hangtowel/ep000024/observations/fisheye/hand_left.png b/human_hand/hangtowel/ep000024/observations/fisheye/hand_left.png index 063136e25c164c1c91d1f77d33ed51184e0c2169..1b7976d92608beebb277a8649712567d309cfba4 100644 --- a/human_hand/hangtowel/ep000024/observations/fisheye/hand_left.png +++ b/human_hand/hangtowel/ep000024/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d151627708e8db0140ae452b764baabe94b1baf61f01c025dc39d393227d7ba7 -size 765704 +oid sha256:35bafdfabff010fd4a0bea7ae4f8c02a3788f6338195f143e6d9e6f83a869184 +size 771025 diff --git a/human_hand/hangtowel/ep000024/observations/fisheye/hand_right.png b/human_hand/hangtowel/ep000024/observations/fisheye/hand_right.png index 5eb27f8284e801751b99d15ece11ca2688c81094..ddc9bb930623ef263f0a55db78b2000ac70e1d83 100644 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sha256:677b748b146ed5ecefd573a880a263a3836476571e479351404aa19af37204ed +size 323802 diff --git a/human_hand/hangtowel/ep000024/pinhole_migration.json b/human_hand/hangtowel/ep000024/pinhole_migration.json deleted file mode 100644 index f02600306a35c2f5b1fe7075af902a247ef7a1cb..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000024/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "hangtowel", - "episode": "ep000024", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. 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1597, - 1670, - 1744 - ] -} diff --git a/human_hand/hangtowel/ep000024/trajectory.parquet b/human_hand/hangtowel/ep000024/trajectory.parquet deleted file mode 100644 index bb0bc8e3265a2a1ee1bc9e9f215e00f5623b1604..0000000000000000000000000000000000000000 --- a/human_hand/hangtowel/ep000024/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:598071986969882b155ea8f03e636737fe3daee2cfb112036ab23849a0329723 -size 7755183 diff --git a/human_hand/hangtowel/schema.json b/human_hand/hangtowel/schema.json index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..9e2fd7ab8141634ba09f7663b6adb9c4ef0cc035 100644 --- a/human_hand/hangtowel/schema.json +++ b/human_hand/hangtowel/schema.json @@ -1,558 +1,25 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.absolute_pose.v1", "embodiment": "ego_human_bimanual", "fps": 15.0, - "features": { - "action": { - "dtype": "float32", - "shape": [ - 57 - ], - "field_descriptions": { - "camera_delta": { - "description": "camera xyz + rot6d delta", - "dimensions": 9, - "indices": [ - 0, - 1, - 2, - 3, - 4, - 5, - 6, - 7, - 8 - ] - }, - "right_wrist_world_delta": { - "description": "right wrist world xyz + rot6d delta", - "dimensions": 9, - "indices": [ - 9, - 10, - 11, - 12, - 13, - 14, - 15, - 16, - 17 - ] - }, - "right_fingertips_in_wrist": { - "description": "five right fingertip XYZ positions in aligned wrist frame", - "dimensions": 15, - "indices": [ - 18, - 19, - 20, - 21, - 22, - 23, - 24, - 25, - 26, - 27, - 28, - 29, - 30, - 31, - 32 - ] - }, - "left_wrist_world_delta": { - "description": "left wrist world xyz + rot6d delta", - "dimensions": 9, - "indices": [ - 33, - 34, - 35, - 36, - 37, - 38, - 39, - 40, - 41 - ] - }, - "left_fingertips_in_wrist": { - "description": "five left fingertip XYZ positions in aligned wrist frame", - "dimensions": 15, - "indices": [ - 42, - 43, - 44, - 45, - 46, - 47, - 48, - 49, - 50, - 51, - 52, - 53, - 54, - 55, - 56 - ] - } - } - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 304 - ], - "field_descriptions": { - "hand_state/left/ori": { - "description": "21 XYZW quaternions", - "dimensions": 84, - "indices": [ - 0, - 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, - 47, - 48, - 49, - 50, - 51, - 52, - 53, - 54, - 55, - 56, - 57, - 58, - 59, - 60, - 61, - 62, - 63, - 64, - 65, - 66, - 67, - 68, - 69, - 70, - 71, - 72, - 73, - 74, - 75, - 76, - 77, - 78, - 79, - 80, - 81, - 82, - 83 - ] - }, - "hand_state/left/pos": { - "description": "21 XYZ positions in camera frame", - "dimensions": 63, - "indices": [ - 84, - 85, - 86, - 87, - 88, - 89, - 90, - 91, - 92, - 93, - 94, - 95, - 96, - 97, - 98, - 99, - 100, - 101, - 102, - 103, - 104, - 105, - 106, - 107, - 108, - 109, - 110, - 111, - 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224, - 225, - 226, - 227, - 228, - 229, - 230, - 231 - ] - }, - "hand_state/right/pos": { - "description": "21 XYZ positions in camera frame", - "dimensions": 63, - "indices": [ - 232, - 233, - 234, - 235, - 236, - 237, - 238, - 239, - 240, - 241, - 242, - 243, - 244, - 245, - 246, - 247, - 248, - 249, - 250, - 251, - 252, - 253, - 254, - 255, - 256, - 257, - 258, - 259, - 260, - 261, - 262, - 263, - 264, - 265, - 266, - 267, - 268, - 269, - 270, - 271, - 272, - 273, - 274, - 275, - 276, - 277, - 278, - 279, - 280, - 281, - 282, - 283, - 284, - 285, - 286, - 287, - 288, - 289, - 290, - 291, - 292, - 293, - 294 - ] - }, - "hand_state/right/valid": { - "description": "right hand valid", - "dimensions": 1, - "indices": [ - 295 - ] - }, - "head_camera/orientation": { - "description": "camera-to-world XYZW quaternion", - "dimensions": 4, - "indices": [ - 296, - 297, - 298, - 299 - ] - }, - "head_camera/position": { - "description": "camera-to-world XYZ position", - "dimensions": 3, - "indices": [ - 300, - 301, - 302 - ] - }, - "head_camera/valid": { - "description": "camera pose valid", - "dimensions": 1, - "indices": [ - 303 - ] - } - } - }, - "observation.aux": { - "dtype": "float32", - "shape": [ - 19 - ] - }, - "observation.source_state": { - "dtype": "float32", - "shape": [ - 635 - ] - } + "contains_delta_action": false, + "initial_observations": { + "description": "Frame 0 input images for the released camera views." }, - "views": { - "top_head": { - "source": "head_fisheye", - "mount": "head", - "compatibility_alias": true, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - }, - "source_projection": "opencv_fisheye" - }, - "hand_left": { - "source": "head_fisheye_left", - "mount": "head", - "compatibility_alias": true, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - }, - "source_projection": "opencv_fisheye" - }, - "hand_right": { - "source": "head_fisheye_right", - "mount": "head", - "compatibility_alias": true, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - }, - "source_projection": "opencv_fisheye" - }, - "head_stereo_left": { - "source": "head_stereo_left", - "mount": "head", - "compatibility_alias": false - }, - "head_stereo_right": { - "source": "head_stereo_right", - "mount": "head", - "compatibility_alias": false + "hand_camera_poses": { + "path": "controls/hand_camera_poses.npz", + "alignment": "sample t corresponds to episode frame t", + "arrays": { + "left_positions_camera": "[T, 21, 3] float, left-hand joints in camera coordinates", + "right_positions_camera": "[T, 21, 3] float, right-hand joints in camera coordinates", + "left_quaternions_camera_xyzw": "[T, 21, 4] float, XYZW quaternions", + "right_quaternions_camera_xyzw": "[T, 21, 4] float, XYZW quaternions", + "left_valid": "[T] boolean validity mask", + "right_valid": "[T] boolean validity mask", + "camera_position_world": "[T, 3] float camera-reference position", + "camera_quaternion_world_xyzw": "[T, 4] float XYZW camera-reference orientation", + "camera_valid": "[T] boolean validity mask" } }, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - } + "task": "hangtowel" } diff --git a/human_hand/pickfruit/ep000000/controls/action_57d_spec.json b/human_hand/pickfruit/ep000000/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000000/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000000/controls/hand_camera_poses.npz b/human_hand/pickfruit/ep000000/controls/hand_camera_poses.npz index 2702c506ec7960c6ac3c83d0998f456a57c35b32..429def4254892f66be06c82d850c25d77832c213 100644 --- a/human_hand/pickfruit/ep000000/controls/hand_camera_poses.npz +++ b/human_hand/pickfruit/ep000000/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b26759389b38c5addea210863913a1a8c69ea61918865b44348fce2bb53f7fdc -size 1778357 +oid sha256:53a2c6a5dd26ce619feb473de4af11513c85f59ddde65e5c60e124fddcd4d616 +size 1776643 diff --git a/human_hand/pickfruit/ep000000/metadata.json b/human_hand/pickfruit/ep000000/metadata.json index 914a48c3c406696fbbde27e98709c09e932b7cc6..e1363a2e74a306971f215f983b557a9883260d80 100644 --- a/human_hand/pickfruit/ep000000/metadata.json +++ b/human_hand/pickfruit/ep000000/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "pickfruit", "episode_index": 0, "episode_name": "ep000000", "fps": 15.0, - "num_frames": 1873, - "num_transitions": 1872, + "num_frames": 1872, "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", @@ -20,8 +17,7 @@ "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" + "hand_camera_poses": "controls/hand_camera_poses.npz" }, "fisheye_calibration": "calibration_fisheye.json", "fisheye_observations": { @@ -41,5 +37,8 @@ "height": 480, "hfov_deg": 90.0, "view_pitch_deg": 38.0 - } + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/pickfruit/ep000000/observations/fisheye/hand_left.png b/human_hand/pickfruit/ep000000/observations/fisheye/hand_left.png index d4d1383e19947f9ae8210a222b383c27bd571244..500bbafe1df2dbf135bc5a460be3c22597f3d13d 100644 --- a/human_hand/pickfruit/ep000000/observations/fisheye/hand_left.png +++ b/human_hand/pickfruit/ep000000/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d3ae9357d9d5630df30ace760b2106b56bbcf524977fcd0d892f54bd03782fc3 -size 884003 +oid sha256:2b15667389708482c29d291441d7fd7568c54f420432a3ae765278917056ff95 +size 893392 diff --git a/human_hand/pickfruit/ep000000/pinhole_migration.json b/human_hand/pickfruit/ep000000/pinhole_migration.json deleted file mode 100644 index 5286111ac5a66abe395fa790a0fafa4cba33c27a..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000000/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000000", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 17477962.0, - "pinhole_nonzero": 48639572.0, - "area_ratio": 2.7829086709308557 - }, - "multiview_masks/top_head": { - "source_nonzero": 36454321.0, - "pinhole_nonzero": 61928474.0, - "area_ratio": 1.6987965294978338 - }, - "multiview_masks/hand_left": { - "source_nonzero": 21038225.0, - "pinhole_nonzero": 36658582.0, - "area_ratio": 1.7424750424524882 - }, - "multiview_masks/hand_right": { - "source_nonzero": 24275486.0, - "pinhole_nonzero": 41013783.0, - "area_ratio": 1.6895143932442795 - } - }, - "created_unix": 1789877099.452967 -} diff --git a/human_hand/pickfruit/ep000000/source_map.json b/human_hand/pickfruit/ep000000/source_map.json deleted file mode 100644 index 155a8c2c0c0dbb8a46602cebfaf1cb7819cfac79..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000000/source_map.json +++ /dev/null @@ -1,1932 +0,0 @@ -{ - "source_dataset": "", - 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6228, - 6566, - 6845, - 7182 - ], - "canonical_keyframes": [ - 80, - 154, - 235, - 312, - 392, - 468, - 552, - 637, - 724, - 790, - 863, - 945, - 1020, - 1097, - 1179, - 1254, - 1329, - 1406, - 1479, - 1557, - 1642, - 1711, - 1796 - ] -} diff --git a/human_hand/pickfruit/ep000000/trajectory.parquet b/human_hand/pickfruit/ep000000/trajectory.parquet deleted file mode 100644 index f4d16c300bf2231e863fdc94753c2051eb43bbaa..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000000/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:46f6522c099604df09b38e5660d53fdd05b9e8118c158526fa4ee4b62046cf44 -size 7765416 diff --git a/human_hand/pickfruit/ep000002/controls/action_57d_spec.json b/human_hand/pickfruit/ep000002/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000002/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000002/pinhole_migration.json b/human_hand/pickfruit/ep000002/pinhole_migration.json deleted file mode 100644 index 1532c11d770cb817a6bf44116e7a2f648ff21724..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000002/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000002", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 15039600.0, - "pinhole_nonzero": 39490130.0, - "area_ratio": 2.6257433708343307 - }, - "multiview_masks/top_head": { - "source_nonzero": 40309616.0, - "pinhole_nonzero": 71707987.0, - "area_ratio": 1.7789300448806062 - }, - "multiview_masks/hand_left": { - "source_nonzero": 23344612.0, - "pinhole_nonzero": 36469952.0, - "area_ratio": 1.5622427993234584 - }, - "multiview_masks/hand_right": { - "source_nonzero": 31066430.0, - "pinhole_nonzero": 51426675.0, - "area_ratio": 1.6553776858171345 - } - }, - "created_unix": 1789877155.9454021 -} diff --git a/human_hand/pickfruit/ep000002/source_map.json b/human_hand/pickfruit/ep000002/source_map.json deleted file mode 100644 index 528528038a8072d6f923c86489c718a0cdf50458..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000002/source_map.json +++ /dev/null @@ -1,1960 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000005/pinhole_migration.json b/human_hand/pickfruit/ep000005/pinhole_migration.json deleted file mode 100644 index a8d0c591d394c0977a2d6a3278d513d178c35656..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000005/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000005", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 14606524.0, - "pinhole_nonzero": 33187280.0, - "area_ratio": 2.272086089750032 - }, - "multiview_masks/top_head": { - "source_nonzero": 44091441.0, - "pinhole_nonzero": 81965980.0, - "area_ratio": 1.8589997999838563 - }, - "multiview_masks/hand_left": { - "source_nonzero": 22056636.0, - "pinhole_nonzero": 40419476.0, - "area_ratio": 1.8325313071313323 - }, - "multiview_masks/hand_right": { - "source_nonzero": 32848187.0, - "pinhole_nonzero": 55478839.0, - "area_ratio": 1.6889467598318288 - } - }, - "created_unix": 1789877210.4574287 -} diff --git a/human_hand/pickfruit/ep000005/source_map.json b/human_hand/pickfruit/ep000005/source_map.json deleted file mode 100644 index 450faff88b04e148b2a1d0aacb47626172333cdf..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000005/source_map.json +++ /dev/null @@ -1,2025 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000008/pinhole_migration.json b/human_hand/pickfruit/ep000008/pinhole_migration.json deleted file mode 100644 index 9d8b6fcdf5c8f6f70c304bff5ff9c16932b357cf..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000008/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000008", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 12368032.0, - "pinhole_nonzero": 27282762.0, - "area_ratio": 2.2059097195091346 - }, - "multiview_masks/top_head": { - "source_nonzero": 29679786.0, - "pinhole_nonzero": 49101541.0, - "area_ratio": 1.6543765174048088 - }, - "multiview_masks/hand_left": { - "source_nonzero": 16379978.0, - "pinhole_nonzero": 29372194.0, - "area_ratio": 1.7931766452921976 - }, - "multiview_masks/hand_right": { - "source_nonzero": 24925098.0, - "pinhole_nonzero": 44121131.0, - "area_ratio": 1.7701487472586868 - } - }, - "created_unix": 1789877317.494917 -} diff --git a/human_hand/pickfruit/ep000008/source_map.json b/human_hand/pickfruit/ep000008/source_map.json deleted file mode 100644 index e127460b9915b052a4906f7d725b6ee4772ca656..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000008/source_map.json +++ /dev/null @@ -1,1949 +0,0 @@ -{ - "source_dataset": "", - 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1319, - 1657, - 2041, - 2429, - 2819, - 3171, - 3401, - 3786, - 4175, - 4472, - 4815, - 5230, - 5483, - 5813, - 6078, - 6319, - 6578, - 6911, - 7123, - 7390 - ], - "canonical_keyframes": [ - 57, - 133, - 192, - 251, - 330, - 414, - 510, - 607, - 705, - 793, - 850, - 946, - 1044, - 1118, - 1204, - 1308, - 1371, - 1453, - 1520, - 1580, - 1644, - 1728, - 1781, - 1848 - ] -} diff --git a/human_hand/pickfruit/ep000008/trajectory.parquet b/human_hand/pickfruit/ep000008/trajectory.parquet deleted file mode 100644 index 44bfe1956f7c2794cb14a8bf1612369c6e6fe25e..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000008/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5793ad9a17feebe83ffca0ec1de044ef74ed9e05b7394fd8b433e8c0bc9769d2 -size 7873829 diff --git a/human_hand/pickfruit/ep000010/controls/action_57d_spec.json b/human_hand/pickfruit/ep000010/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000010/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000010/pinhole_migration.json b/human_hand/pickfruit/ep000010/pinhole_migration.json deleted file mode 100644 index ac88977788e7c58e819d6abe5b57451e812d5ad5..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000010/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000010", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 23128136.0, - "pinhole_nonzero": 44611932.0, - "area_ratio": 1.9289030469208586 - }, - "multiview_masks/top_head": { - "source_nonzero": 37568273.0, - "pinhole_nonzero": 71150078.0, - "area_ratio": 1.893887376723439 - }, - "multiview_masks/hand_left": { - "source_nonzero": 21561793.0, - "pinhole_nonzero": 34728286.0, - "area_ratio": 1.6106399871290853 - }, - "multiview_masks/hand_right": { - "source_nonzero": 28860845.0, - "pinhole_nonzero": 46333211.0, - "area_ratio": 1.6054003616318233 - } - }, - "created_unix": 1789877375.1246636 -} diff --git a/human_hand/pickfruit/ep000010/source_map.json b/human_hand/pickfruit/ep000010/source_map.json deleted file mode 100644 index b97849a690590ebc6ad0c8fb11f4da0c8bb0992a..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000010/source_map.json +++ /dev/null @@ -1,1970 +0,0 @@ -{ - "source_dataset": "", - 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7580, - 7584, - 7588, - 7592, - 7596, - 7600, - 7604, - 7608, - 7612, - 7616, - 7620, - 7624, - 7628, - 7632 - ], - "source_keyframes": [ - 296, - 639, - 936, - 1273, - 1584, - 1925, - 2260, - 2628, - 2887, - 3176, - 3477, - 3794, - 4069, - 4369, - 4682, - 4953, - 5257, - 5552, - 5874, - 6160, - 6464, - 6781, - 7078, - 7363 - ], - "canonical_keyframes": [ - 74, - 160, - 234, - 318, - 396, - 481, - 565, - 657, - 722, - 794, - 869, - 948, - 1017, - 1092, - 1170, - 1238, - 1314, - 1388, - 1468, - 1540, - 1616, - 1695, - 1770, - 1841 - ] -} diff --git a/human_hand/pickfruit/ep000010/trajectory.parquet b/human_hand/pickfruit/ep000010/trajectory.parquet deleted file mode 100644 index 004738d6b0df459bf5adf3c5222da60d1fafae07..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000010/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2ecb5cdc4b2e0e97deca85231575f2a8dd2e944981442722564da721b93838e0 -size 7906407 diff --git a/human_hand/pickfruit/ep000011/controls/action_57d_spec.json b/human_hand/pickfruit/ep000011/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000011/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000011/pinhole_migration.json b/human_hand/pickfruit/ep000011/pinhole_migration.json deleted file mode 100644 index bb773d321e758dcaefaa91ea503a68d89a9fbdcd..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000011/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000011", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 23181263.0, - "pinhole_nonzero": 46672887.0, - "area_ratio": 2.0133884422086923 - }, - "multiview_masks/top_head": { - "source_nonzero": 38248484.0, - "pinhole_nonzero": 71600454.0, - "area_ratio": 1.8719814882074803 - }, - "multiview_masks/hand_left": { - "source_nonzero": 21470525.0, - "pinhole_nonzero": 35635902.0, - "area_ratio": 1.6597592280580005 - }, - "multiview_masks/hand_right": { - "source_nonzero": 28480435.0, - "pinhole_nonzero": 45876343.0, - "area_ratio": 1.6108020470895195 - } - }, - "created_unix": 1789877431.2975686 -} diff --git a/human_hand/pickfruit/ep000011/source_map.json b/human_hand/pickfruit/ep000011/source_map.json deleted file mode 100644 index 5deba108e5cb1f893a6bf9143ba7c11c7ca1be3d..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000011/source_map.json +++ /dev/null @@ -1,1968 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000012/pinhole_migration.json b/human_hand/pickfruit/ep000012/pinhole_migration.json deleted file mode 100644 index 48f3b0e497d3d816c6d5284462d9aef4762fc8a5..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000012/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000012", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 9162410.0, - "pinhole_nonzero": 18637096.0, - "area_ratio": 2.034082299307715 - }, - "multiview_masks/top_head": { - "source_nonzero": 35911708.0, - "pinhole_nonzero": 69891550.0, - "area_ratio": 1.9462051206252846 - }, - "multiview_masks/hand_left": { - "source_nonzero": 18258831.0, - "pinhole_nonzero": 32888982.0, - "area_ratio": 1.8012643854362855 - }, - "multiview_masks/hand_right": { - "source_nonzero": 27390326.0, - "pinhole_nonzero": 50494543.0, - "area_ratio": 1.843517415601406 - } - }, - "created_unix": 1789877483.5789957 -} diff --git a/human_hand/pickfruit/ep000012/source_map.json b/human_hand/pickfruit/ep000012/source_map.json deleted file mode 100644 index 28d7aceb8b389d7b0eb0f2606784a77aff404387..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000012/source_map.json +++ /dev/null @@ -1,2077 +0,0 @@ -{ - "source_dataset": "", - 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305, - 616, - 932, - 1274, - 1542, - 1851, - 2242, - 2594, - 2922, - 3296, - 3645, - 3955, - 4390, - 4768, - 5033, - 5436, - 5706, - 6038, - 6379, - 6662, - 6992, - 7357, - 7677 - ], - "canonical_keyframes": [ - 76, - 154, - 233, - 318, - 386, - 463, - 560, - 648, - 730, - 824, - 911, - 989, - 1098, - 1192, - 1258, - 1359, - 1426, - 1510, - 1595, - 1666, - 1748, - 1839, - 1919 - ] -} diff --git a/human_hand/pickfruit/ep000012/trajectory.parquet b/human_hand/pickfruit/ep000012/trajectory.parquet deleted file mode 100644 index b6987da05ac7f47e98061b8bb6ca01724a147c24..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000012/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:79a516ca776ddedfe35b870d985f923f51ce122a0bfedc86532bc17d3131d805 -size 8382591 diff --git a/human_hand/pickfruit/ep000013/controls/action_57d_spec.json b/human_hand/pickfruit/ep000013/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000013/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000013/pinhole_migration.json b/human_hand/pickfruit/ep000013/pinhole_migration.json deleted file mode 100644 index 366da2161797edcd9c19b1c8da61c0eb76420419..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000013/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000013", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 26123980.0, - "pinhole_nonzero": 46366314.0, - "area_ratio": 1.7748564345861542 - }, - "multiview_masks/top_head": { - "source_nonzero": 30349844.0, - "pinhole_nonzero": 59640337.0, - "area_ratio": 1.9650953395345294 - }, - "multiview_masks/hand_left": { - "source_nonzero": 18876421.0, - "pinhole_nonzero": 30676859.0, - "area_ratio": 1.6251417045635927 - }, - "multiview_masks/hand_right": { - "source_nonzero": 27397585.0, - "pinhole_nonzero": 43652704.0, - "area_ratio": 1.5933048113547235 - } - }, - "created_unix": 1789877539.6971912 -} diff --git a/human_hand/pickfruit/ep000013/source_map.json b/human_hand/pickfruit/ep000013/source_map.json deleted file mode 100644 index a975c393cce3379798833317b74cc9d85e28dd4c..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000013/source_map.json +++ /dev/null @@ -1,1972 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000014/pinhole_migration.json b/human_hand/pickfruit/ep000014/pinhole_migration.json deleted file mode 100644 index be88ca65b72cf240f87477b0271b76e8471ba88a..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000014/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000014", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 21839669.0, - "pinhole_nonzero": 48021110.0, - "area_ratio": 2.198802097229587 - }, - "multiview_masks/top_head": { - "source_nonzero": 44998127.0, - "pinhole_nonzero": 83127132.0, - "area_ratio": 1.8473464906661559 - }, - "multiview_masks/hand_left": { - "source_nonzero": 23768475.0, - "pinhole_nonzero": 35270355.0, - "area_ratio": 1.4839132506397654 - }, - "multiview_masks/hand_right": { - "source_nonzero": 32332661.0, - "pinhole_nonzero": 47313084.0, - "area_ratio": 1.4633216857715485 - } - }, - "created_unix": 1789877595.898692 -} diff --git a/human_hand/pickfruit/ep000014/source_map.json b/human_hand/pickfruit/ep000014/source_map.json deleted file mode 100644 index 721405c970ee3d866b5b0b10a126704f7d883411..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000014/source_map.json +++ /dev/null @@ -1,1910 +0,0 @@ -{ - "source_dataset": "", - 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1322, - 1383, - 1467, - 1546, - 1613, - 1692, - 1767 - ] -} diff --git a/human_hand/pickfruit/ep000014/trajectory.parquet b/human_hand/pickfruit/ep000014/trajectory.parquet deleted file mode 100644 index 959f2019f01d10a40e606108810c9fcbcaf1c45c..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000014/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:12dfbe0497c6a42440c33ebd1655e5f45ebc7799a8326ca4a6461aad2c722017 -size 7679783 diff --git a/human_hand/pickfruit/ep000015/controls/action_57d_spec.json b/human_hand/pickfruit/ep000015/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000015/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000015/pinhole_migration.json b/human_hand/pickfruit/ep000015/pinhole_migration.json deleted file mode 100644 index a0379f3a2a9502f4d6c9aaf552656387f33a2ae2..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000015/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000015", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 20418848.0, - "pinhole_nonzero": 52952976.0, - "area_ratio": 2.593338076663287 - }, - "multiview_masks/top_head": { - "source_nonzero": 48034998.0, - "pinhole_nonzero": 86956696.0, - "area_ratio": 1.8102779144489607 - }, - "multiview_masks/hand_left": { - "source_nonzero": 26546170.0, - "pinhole_nonzero": 40667703.0, - "area_ratio": 1.5319612207712072 - }, - "multiview_masks/hand_right": { - "source_nonzero": 32899720.0, - "pinhole_nonzero": 56595522.0, - "area_ratio": 1.7202432725871224 - } - }, - "created_unix": 1789877649.8514888 -} diff --git a/human_hand/pickfruit/ep000015/source_map.json b/human_hand/pickfruit/ep000015/source_map.json deleted file mode 100644 index 56c24e45226d20164b074d61062bddb264951133..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000015/source_map.json +++ /dev/null @@ -1,1891 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000018/pinhole_migration.json b/human_hand/pickfruit/ep000018/pinhole_migration.json deleted file mode 100644 index 93b514bbc7da936932c4a04dd78540bdfb4418f9..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000018/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000018", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 16694587.0, - "pinhole_nonzero": 48082943.0, - "area_ratio": 2.8801516922820554 - }, - "multiview_masks/top_head": { - "source_nonzero": 46618016.0, - "pinhole_nonzero": 79648184.0, - "area_ratio": 1.7085279648108578 - }, - "multiview_masks/hand_left": { - "source_nonzero": 25976033.0, - "pinhole_nonzero": 39982756.0, - "area_ratio": 1.5392171699196717 - }, - "multiview_masks/hand_right": { - "source_nonzero": 32481789.0, - "pinhole_nonzero": 53000059.0, - "area_ratio": 1.631685342208214 - } - }, - "created_unix": 1789877760.037854 -} diff --git a/human_hand/pickfruit/ep000018/source_map.json b/human_hand/pickfruit/ep000018/source_map.json deleted file mode 100644 index 482de8e27dd8308786394156bb4622d335951fc2..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000018/source_map.json +++ /dev/null @@ -1,1904 +0,0 @@ -{ - "source_dataset": "", - 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1774 - ] -} diff --git a/human_hand/pickfruit/ep000018/trajectory.parquet b/human_hand/pickfruit/ep000018/trajectory.parquet deleted file mode 100644 index 40b2def592be99e6578cea9d70ee58b8b30a08b6..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000018/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a9356446c44e01d9611adfb95d29f34c7e043c09f5aa4f5290a78117a8077a6e -size 7669116 diff --git a/human_hand/pickfruit/ep000020/controls/action_57d_spec.json b/human_hand/pickfruit/ep000020/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000020/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000020/pinhole_migration.json b/human_hand/pickfruit/ep000020/pinhole_migration.json deleted file mode 100644 index cbc7d20a65f8c72a5fae491eb575dfd2496f094f..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000020/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000020", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 32956971.0, - "pinhole_nonzero": 64431729.0, - "area_ratio": 1.9550258122932476 - }, - "multiview_masks/top_head": { - "source_nonzero": 44570585.0, - "pinhole_nonzero": 78572705.0, - "area_ratio": 1.7628825154527363 - }, - "multiview_masks/hand_left": { - "source_nonzero": 23291434.0, - "pinhole_nonzero": 37834913.0, - "area_ratio": 1.6244132070185116 - }, - "multiview_masks/hand_right": { - "source_nonzero": 32723031.0, - "pinhole_nonzero": 43572867.0, - "area_ratio": 1.331565740349664 - } - }, - "created_unix": 1789877815.6192179 -} diff --git a/human_hand/pickfruit/ep000020/source_map.json b/human_hand/pickfruit/ep000020/source_map.json deleted file mode 100644 index bba5911b2154606edfbbe0630397e874f40da823..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000020/source_map.json +++ /dev/null @@ -1,1936 +0,0 @@ -{ - "source_dataset": "", - 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5020, - 5386, - 5654, - 5975, - 6287, - 6578, - 6857, - 7187 - ], - "canonical_keyframes": [ - 80, - 154, - 234, - 308, - 395, - 464, - 544, - 590, - 682, - 750, - 865, - 949, - 1008, - 1093, - 1165, - 1255, - 1346, - 1414, - 1494, - 1572, - 1644, - 1714, - 1797 - ] -} diff --git a/human_hand/pickfruit/ep000020/trajectory.parquet b/human_hand/pickfruit/ep000020/trajectory.parquet deleted file mode 100644 index 6cdf57e8311020453d165620163463e4fae29812..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000020/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b5d2f0fc0dd337324969817f4a803dbe17a3d8cdf4b8f7e8498778f60f624847 -size 7795128 diff --git a/human_hand/pickfruit/ep000023/controls/action_57d_spec.json b/human_hand/pickfruit/ep000023/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000023/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000023/pinhole_migration.json b/human_hand/pickfruit/ep000023/pinhole_migration.json deleted file mode 100644 index bbc2dca04520cbaab8ff8011eb119cc3388b1705..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000023/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000023", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 10322993.0, - "pinhole_nonzero": 23848085.0, - "area_ratio": 2.3101909494659156 - }, - "multiview_masks/top_head": { - "source_nonzero": 46945168.0, - "pinhole_nonzero": 67444060.0, - "area_ratio": 1.4366560579781076 - }, - "multiview_masks/hand_left": { - "source_nonzero": 23957259.0, - "pinhole_nonzero": 45735337.0, - "area_ratio": 1.9090388011416497 - }, - "multiview_masks/hand_right": { - "source_nonzero": 30403735.0, - "pinhole_nonzero": 45552314.0, - "area_ratio": 1.4982473041552296 - } - }, - "created_unix": 1789877918.9097192 -} diff --git a/human_hand/pickfruit/ep000023/source_map.json b/human_hand/pickfruit/ep000023/source_map.json deleted file mode 100644 index 5fef178436191fbb2a5e124759e1c59acf2ec2cc..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000023/source_map.json +++ /dev/null @@ -1,1918 +0,0 @@ -{ - "source_dataset": "", - 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639, - 718, - 786, - 856, - 937, - 1009, - 1088, - 1166, - 1239, - 1311, - 1398, - 1479, - 1583, - 1670, - 1745, - 1809 - ] -} diff --git a/human_hand/pickfruit/ep000023/trajectory.parquet b/human_hand/pickfruit/ep000023/trajectory.parquet deleted file mode 100644 index 756b6f35eed0831ca7912c890fade658f68601e2..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000023/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f1ed4319b4699e00aac3cddf2e098153986433441f33dc1672f244e7e9aa32f9 -size 7709656 diff --git a/human_hand/pickfruit/ep000024/controls/action_57d_spec.json b/human_hand/pickfruit/ep000024/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000024/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000024/pinhole_migration.json b/human_hand/pickfruit/ep000024/pinhole_migration.json deleted file mode 100644 index 732234ac2502f0757577f14832222b0d3a201dcb..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000024/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000024", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 12251680.0, - "pinhole_nonzero": 28321716.0, - "area_ratio": 2.3116597886983663 - }, - "multiview_masks/top_head": { - "source_nonzero": 43738093.0, - "pinhole_nonzero": 68660060.0, - "area_ratio": 1.5698000367780096 - }, - "multiview_masks/hand_left": { - "source_nonzero": 23011537.0, - "pinhole_nonzero": 43343869.0, - "area_ratio": 1.8835712277715304 - }, - "multiview_masks/hand_right": { - "source_nonzero": 30178740.0, - "pinhole_nonzero": 48062810.0, - "area_ratio": 1.5926049265144933 - } - }, - "created_unix": 1789877971.3056612 -} diff --git a/human_hand/pickfruit/ep000024/source_map.json b/human_hand/pickfruit/ep000024/source_map.json deleted file mode 100644 index 45c0fa6f66df93a84ccd1934987daa7957a1a0d9..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000024/source_map.json +++ /dev/null @@ -1,1936 +0,0 @@ -{ - "source_dataset": "", - 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4983, - 5287, - 5560, - 5951, - 6227, - 6549, - 6925, - 7217 - ], - "canonical_keyframes": [ - 74, - 168, - 236, - 312, - 389, - 470, - 544, - 620, - 690, - 766, - 852, - 945, - 1015, - 1087, - 1156, - 1246, - 1322, - 1390, - 1488, - 1557, - 1637, - 1731, - 1804 - ] -} diff --git a/human_hand/pickfruit/ep000024/trajectory.parquet b/human_hand/pickfruit/ep000024/trajectory.parquet deleted file mode 100644 index f85e436150513dc273417672bfd58daf0dc47868..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000024/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:506aa9bdba6b9e7384965a0005ab8b950f41ea237f0aac67e1a3c60ca900c42a -size 7790556 diff --git a/human_hand/pickfruit/ep000025/controls/action_57d_spec.json b/human_hand/pickfruit/ep000025/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000025/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000025/pinhole_migration.json b/human_hand/pickfruit/ep000025/pinhole_migration.json deleted file mode 100644 index 75dbbb29356dbf0850fb8899a1c8bd8ee7838b61..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000025/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000025", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 18685293.0, - "pinhole_nonzero": 34605603.0, - "area_ratio": 1.8520235674120817 - }, - "multiview_masks/top_head": { - "source_nonzero": 42238127.0, - "pinhole_nonzero": 65282019.0, - "area_ratio": 1.5455708772313697 - }, - "multiview_masks/hand_left": { - "source_nonzero": 20896324.0, - "pinhole_nonzero": 34231623.0, - "area_ratio": 1.6381648274596048 - }, - "multiview_masks/hand_right": { - "source_nonzero": 27389175.0, - "pinhole_nonzero": 42447575.0, - "area_ratio": 1.5497938510378644 - } - }, - "created_unix": 1789878023.9030077 -} diff --git a/human_hand/pickfruit/ep000025/source_map.json b/human_hand/pickfruit/ep000025/source_map.json deleted file mode 100644 index af327ed2ead8d1a2b80f4e84021383b7570d6ebc..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000025/source_map.json +++ /dev/null @@ -1,1920 +0,0 @@ -{ - "source_dataset": "", - 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464, - 547, - 634, - 710, - 792, - 865, - 939, - 1012, - 1088, - 1166, - 1249, - 1336, - 1424, - 1490, - 1557, - 1636, - 1712, - 1791 - ] -} diff --git a/human_hand/pickfruit/ep000025/trajectory.parquet b/human_hand/pickfruit/ep000025/trajectory.parquet deleted file mode 100644 index 62d5138402d39293e4c7934cd7e4f84a88b657b1..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000025/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:29b5835f6bec2061464983914bd40e085ab21d82acdea641844dfc972f5ff49a -size 7705833 diff --git a/human_hand/pickfruit/ep000027/controls/action_57d_spec.json b/human_hand/pickfruit/ep000027/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000027/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000027/pinhole_migration.json b/human_hand/pickfruit/ep000027/pinhole_migration.json deleted file mode 100644 index 60b694d47e1785b5ae9a441c000a62dfc8a6c68e..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000027/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000027", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 11684656.0, - "pinhole_nonzero": 26026731.0, - "area_ratio": 2.2274280903092056 - }, - "multiview_masks/top_head": { - "source_nonzero": 41339426.0, - "pinhole_nonzero": 64185913.0, - "area_ratio": 1.5526561254140296 - }, - "multiview_masks/hand_left": { - "source_nonzero": 20464330.0, - "pinhole_nonzero": 38939884.0, - "area_ratio": 1.9028174389291026 - }, - "multiview_masks/hand_right": { - "source_nonzero": 26455522.0, - "pinhole_nonzero": 43605988.0, - "area_ratio": 1.6482754715631769 - } - }, - "created_unix": 1789878127.0163417 -} diff --git a/human_hand/pickfruit/ep000027/source_map.json b/human_hand/pickfruit/ep000027/source_map.json deleted file mode 100644 index f5eb6113729ec83d360e794dc6a0a97921d1f081..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000027/source_map.json +++ /dev/null @@ -1,1901 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000028/pinhole_migration.json b/human_hand/pickfruit/ep000028/pinhole_migration.json deleted file mode 100644 index 8a8665e0092137b142d47c4307f41200093ef98e..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000028/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000028", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 14696120.0, - "pinhole_nonzero": 28159539.0, - "area_ratio": 1.9161206495319854 - }, - "multiview_masks/top_head": { - "source_nonzero": 41243794.0, - "pinhole_nonzero": 66171791.0, - "area_ratio": 1.6044060107564304 - }, - "multiview_masks/hand_left": { - "source_nonzero": 18439433.0, - "pinhole_nonzero": 34320464.0, - "area_ratio": 1.861253759809209 - }, - "multiview_masks/hand_right": { - "source_nonzero": 26426479.0, - "pinhole_nonzero": 48662192.0, - "area_ratio": 1.8414179202609624 - } - }, - "created_unix": 1789878177.7170594 -} diff --git a/human_hand/pickfruit/ep000028/source_map.json b/human_hand/pickfruit/ep000028/source_map.json deleted file mode 100644 index 644b4dce5222c4207894cbf90a957c904fcafd3f..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000028/source_map.json +++ /dev/null @@ -1,1924 +0,0 @@ -{ - "source_dataset": "", - 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79, - 151, - 234, - 307, - 396, - 470, - 534, - 618, - 694, - 766, - 840, - 917, - 992, - 1068, - 1145, - 1209, - 1288, - 1362, - 1442, - 1516, - 1583, - 1668, - 1750 - ] -} diff --git a/human_hand/pickfruit/ep000028/trajectory.parquet b/human_hand/pickfruit/ep000028/trajectory.parquet deleted file mode 100644 index 28debe93b190cb6928b5713d3383ce9344f0cf15..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000028/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6f0fc33e0c2ce2f873a3a726d2ee9c2b009528c3ccebc4594cb384d199a5993c -size 7767564 diff --git a/human_hand/pickfruit/ep000029/controls/action_57d_spec.json b/human_hand/pickfruit/ep000029/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000029/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000029/pinhole_migration.json b/human_hand/pickfruit/ep000029/pinhole_migration.json deleted file mode 100644 index 326026e077cb573ebf257ee04be7519d8ea67b66..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000029/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000029", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 11262158.0, - "pinhole_nonzero": 22381503.0, - "area_ratio": 1.987319215375952 - }, - "multiview_masks/top_head": { - "source_nonzero": 36378676.0, - "pinhole_nonzero": 66447922.0, - "area_ratio": 1.8265624070540665 - }, - "multiview_masks/hand_left": { - "source_nonzero": 18247126.0, - "pinhole_nonzero": 30682729.0, - "area_ratio": 1.681510227966859 - }, - "multiview_masks/hand_right": { - "source_nonzero": 26256394.0, - "pinhole_nonzero": 43498369.0, - "area_ratio": 1.6566771888020877 - } - }, - "created_unix": 1789878230.5232282 -} diff --git a/human_hand/pickfruit/ep000029/source_map.json b/human_hand/pickfruit/ep000029/source_map.json deleted file mode 100644 index f40c99b606d6468e822c54f44b4db671f6a168eb..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000029/source_map.json +++ /dev/null @@ -1,1938 +0,0 @@ -{ - "source_dataset": "", - 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5242, - 5563, - 5873, - 6132, - 6402, - 6741, - 7070, - 7319 - ], - "canonical_keyframes": [ - 76, - 147, - 224, - 294, - 374, - 444, - 513, - 588, - 658, - 730, - 805, - 892, - 972, - 1038, - 1098, - 1154, - 1230, - 1310, - 1391, - 1468, - 1533, - 1600, - 1685, - 1768, - 1830 - ] -} diff --git a/human_hand/pickfruit/ep000029/trajectory.parquet b/human_hand/pickfruit/ep000029/trajectory.parquet deleted file mode 100644 index ff7eb22360f8a416457dc6e59bd187d684beef2b..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000029/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e18d7947a135cf48a8930c86ca8d645297b7ae166cf5f1d210e72dc36e50654a -size 7794905 diff --git a/human_hand/pickfruit/ep000030/controls/action_57d_spec.json b/human_hand/pickfruit/ep000030/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000030/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000030/pinhole_migration.json b/human_hand/pickfruit/ep000030/pinhole_migration.json deleted file mode 100644 index e3ef6dffa70679f398e864d421c3919a1d0307fd..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000030/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000030", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 8946620.0, - "pinhole_nonzero": 22547823.0, - "area_ratio": 2.520261618354194 - }, - "multiview_masks/top_head": { - "source_nonzero": 39930163.0, - "pinhole_nonzero": 53592076.0, - "area_ratio": 1.3421451848318275 - }, - "multiview_masks/hand_left": { - "source_nonzero": 17887192.0, - "pinhole_nonzero": 33434052.0, - "area_ratio": 1.8691615766186218 - }, - "multiview_masks/hand_right": { - "source_nonzero": 23873932.0, - "pinhole_nonzero": 43244347.0, - "area_ratio": 1.8113625773919437 - } - }, - "created_unix": 1789878281.0006034 -} diff --git a/human_hand/pickfruit/ep000030/source_map.json b/human_hand/pickfruit/ep000030/source_map.json deleted file mode 100644 index 3a5a4b06dee4cbddface0c4db6274de3309e8845..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000030/source_map.json +++ /dev/null @@ -1,1933 +0,0 @@ -{ - "source_dataset": "", - 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5825, - 6169, - 6464, - 6758, - 7027 - ], - "canonical_keyframes": [ - 84, - 163, - 243, - 308, - 388, - 464, - 531, - 612, - 680, - 761, - 838, - 913, - 998, - 1071, - 1144, - 1213, - 1292, - 1373, - 1456, - 1542, - 1616, - 1690, - 1757 - ] -} diff --git a/human_hand/pickfruit/ep000030/trajectory.parquet b/human_hand/pickfruit/ep000030/trajectory.parquet deleted file mode 100644 index 2df38d8484c137f6863d4f8d430c295555bb75d0..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000030/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:47647ab69ce9f2961373cc515cc47272c11d98d77c5188f7718ef0cac186b7d5 -size 7798299 diff --git a/human_hand/pickfruit/ep000031/controls/action_57d_spec.json b/human_hand/pickfruit/ep000031/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000031/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pickfruit/ep000031/pinhole_migration.json b/human_hand/pickfruit/ep000031/pinhole_migration.json deleted file mode 100644 index da1f51a8ca3748ef804a798bc95784b6797d966e..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000031/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000031", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 12591164.0, - "pinhole_nonzero": 23118769.0, - "area_ratio": 1.8361105454587041 - }, - "multiview_masks/top_head": { - "source_nonzero": 42122822.0, - "pinhole_nonzero": 68521486.0, - "area_ratio": 1.626706919113824 - }, - "multiview_masks/hand_left": { - "source_nonzero": 21780643.0, - "pinhole_nonzero": 36984841.0, - "area_ratio": 1.6980601077755142 - }, - "multiview_masks/hand_right": { - "source_nonzero": 26119580.0, - "pinhole_nonzero": 39161747.0, - "area_ratio": 1.499325295429712 - } - }, - "created_unix": 1789878330.13962 -} diff --git a/human_hand/pickfruit/ep000031/source_map.json b/human_hand/pickfruit/ep000031/source_map.json deleted file mode 100644 index d782c942a49fc097a4c44a41162bb43d94202345..0000000000000000000000000000000000000000 --- a/human_hand/pickfruit/ep000031/source_map.json +++ /dev/null @@ -1,1921 +0,0 @@ -{ - "source_dataset": "", - 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"width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000000/pinhole_migration.json b/human_hand/pourwater/ep000000/pinhole_migration.json deleted file mode 100644 index 52139b04d4449eb4299fac3c0b39510651a1e8e3..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000000/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000000", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 10759553.0, - "pinhole_nonzero": 26143014.0, - "area_ratio": 2.4297490797247803 - }, - "multiview_masks/top_head": { - "source_nonzero": 39322294.0, - "pinhole_nonzero": 75927557.0, - "area_ratio": 1.9309035479974794 - }, - "multiview_masks/hand_left": { - "source_nonzero": 24142941.0, - "pinhole_nonzero": 30875035.0, - "area_ratio": 1.278843161651267 - }, - "multiview_masks/hand_right": { - "source_nonzero": 27603818.0, - "pinhole_nonzero": 48331032.0, - "area_ratio": 1.7508821424630463 - } - }, - "created_unix": 1789878432.709675 -} diff --git a/human_hand/pourwater/ep000000/source_map.json b/human_hand/pourwater/ep000000/source_map.json deleted file mode 100644 index af68ca12ec2cb1c7b8b029ad388ad5cf87434144..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000000/source_map.json +++ /dev/null @@ -1,1939 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000001/pinhole_migration.json b/human_hand/pourwater/ep000001/pinhole_migration.json deleted file mode 100644 index 71ce4889f52d293b60b21f667373f1940a2f0195..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000001/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000001", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 10787882.0, - "pinhole_nonzero": 25839853.0, - "area_ratio": 2.395266559274564 - }, - "multiview_masks/top_head": { - "source_nonzero": 36593300.0, - "pinhole_nonzero": 67197944.0, - "area_ratio": 1.8363455605261072 - }, - "multiview_masks/hand_left": { - "source_nonzero": 16722387.0, - "pinhole_nonzero": 31310940.0, - "area_ratio": 1.8723965663514426 - }, - "multiview_masks/hand_right": { - "source_nonzero": 27608065.0, - "pinhole_nonzero": 43738308.0, - "area_ratio": 1.5842583679805158 - } - }, - "created_unix": 1789878481.1259358 -} diff --git a/human_hand/pourwater/ep000001/source_map.json b/human_hand/pourwater/ep000001/source_map.json deleted file mode 100644 index 34cc74621757cf55b1de6e2ff549a604979568b9..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000001/source_map.json +++ /dev/null @@ -1,1951 +0,0 @@ -{ - "source_dataset": "", - 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938, - 1292, - 1657, - 1983, - 2280, - 2550, - 2838, - 3074, - 3364, - 3594, - 3903, - 4259, - 4605, - 4895, - 5174, - 5530, - 5829, - 6122, - 6438, - 6797, - 7072, - 7316 - ], - "canonical_keyframes": [ - 68, - 150, - 234, - 323, - 414, - 496, - 570, - 638, - 710, - 768, - 841, - 898, - 976, - 1065, - 1151, - 1224, - 1294, - 1382, - 1457, - 1530, - 1610, - 1699, - 1768, - 1829 - ] -} diff --git a/human_hand/pourwater/ep000001/trajectory.parquet b/human_hand/pourwater/ep000001/trajectory.parquet deleted file mode 100644 index 8f148b72406dc3002b8fc065493bcb8b6b2174df..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000001/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:15c533edb52c5757790ce6da9dad7c2f3ed157b438bf38eefcb0f49d471b2628 -size 7862536 diff --git a/human_hand/pourwater/ep000002/controls/action_57d_spec.json b/human_hand/pourwater/ep000002/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000002/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000002/pinhole_migration.json b/human_hand/pourwater/ep000002/pinhole_migration.json deleted file mode 100644 index 378917165d4a371e42ec78b589fd92f6b95f3abf..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000002/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000002", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 13648566.0, - "pinhole_nonzero": 33574490.0, - "area_ratio": 2.459928024673068 - }, - "multiview_masks/top_head": { - "source_nonzero": 35358491.0, - "pinhole_nonzero": 65786545.0, - "area_ratio": 1.860558613771159 - }, - "multiview_masks/hand_left": { - "source_nonzero": 17693587.0, - "pinhole_nonzero": 33894541.0, - "area_ratio": 1.9156398869262632 - }, - "multiview_masks/hand_right": { - "source_nonzero": 30624326.0, - "pinhole_nonzero": 47349962.0, - "area_ratio": 1.5461552362001372 - } - }, - "created_unix": 1789878530.9425163 -} diff --git a/human_hand/pourwater/ep000002/source_map.json b/human_hand/pourwater/ep000002/source_map.json deleted file mode 100644 index a1dd3e79cb4b9b5e6c611498c679ae0f0c6e1bdc..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000002/source_map.json +++ /dev/null @@ -1,1999 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000003/pinhole_migration.json b/human_hand/pourwater/ep000003/pinhole_migration.json deleted file mode 100644 index c2de01d288556733c3617f20af8417805c1209b6..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000003/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000003", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 11682343.0, - "pinhole_nonzero": 28988937.0, - "area_ratio": 2.481431764158953 - }, - "multiview_masks/top_head": { - "source_nonzero": 39541238.0, - "pinhole_nonzero": 62513261.0, - "area_ratio": 1.5809636764534283 - }, - "multiview_masks/hand_left": { - "source_nonzero": 17005214.0, - "pinhole_nonzero": 30248308.0, - "area_ratio": 1.7787666770909205 - }, - "multiview_masks/hand_right": { - "source_nonzero": 29142993.0, - "pinhole_nonzero": 51707699.0, - "area_ratio": 1.7742755179606982 - } - }, - "created_unix": 1789878580.607342 -} diff --git a/human_hand/pourwater/ep000003/source_map.json b/human_hand/pourwater/ep000003/source_map.json deleted file mode 100644 index 83405b791e931020d1db3f8a086b8aa65c2df91c..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000003/source_map.json +++ /dev/null @@ -1,1981 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000004/pinhole_migration.json b/human_hand/pourwater/ep000004/pinhole_migration.json deleted file mode 100644 index abc17b9ac99b717178d8da5d5220442621d75fb7..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000004/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000004", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 14532643.0, - "pinhole_nonzero": 31979868.0, - "area_ratio": 2.200554159350092 - }, - "multiview_masks/top_head": { - "source_nonzero": 39098673.0, - "pinhole_nonzero": 62323123.0, - "area_ratio": 1.5939958627240367 - }, - "multiview_masks/hand_left": { - "source_nonzero": 18206402.0, - "pinhole_nonzero": 31917474.0, - "area_ratio": 1.753090698535603 - }, - "multiview_masks/hand_right": { - "source_nonzero": 29049372.0, - "pinhole_nonzero": 54103885.0, - "area_ratio": 1.8624803661848524 - } - }, - "created_unix": 1789878631.6813588 -} diff --git a/human_hand/pourwater/ep000004/source_map.json b/human_hand/pourwater/ep000004/source_map.json deleted file mode 100644 index 31b28415b9f92b45abb41f4731d46089f6a0e03c..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000004/source_map.json +++ /dev/null @@ -1,2017 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000005/pinhole_migration.json b/human_hand/pourwater/ep000005/pinhole_migration.json deleted file mode 100644 index 429e6566d2df368458836f9586e72220798f00c4..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000005/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000005", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 6089282.0, - "pinhole_nonzero": 13580932.0, - "area_ratio": 2.2303010437026893 - }, - "multiview_masks/top_head": { - "source_nonzero": 36746872.0, - "pinhole_nonzero": 73370993.0, - "area_ratio": 1.9966595524103385 - }, - "multiview_masks/hand_left": { - "source_nonzero": 17193316.0, - "pinhole_nonzero": 30568074.0, - "area_ratio": 1.7779045066117554 - }, - "multiview_masks/hand_right": { - "source_nonzero": 28432460.0, - "pinhole_nonzero": 49447451.0, - "area_ratio": 1.739119689256575 - } - }, - "created_unix": 1789878679.6164398 -} diff --git a/human_hand/pourwater/ep000005/source_map.json b/human_hand/pourwater/ep000005/source_map.json deleted file mode 100644 index c6157870edb13eaee9a59bc519f3382e52266cfa..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000005/source_map.json +++ /dev/null @@ -1,2003 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000006/pinhole_migration.json b/human_hand/pourwater/ep000006/pinhole_migration.json deleted file mode 100644 index e0b8583b266380becf5abd22dcf87634657a412d..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000006/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000006", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 7067315.0, - "pinhole_nonzero": 17144088.0, - "area_ratio": 2.4258276304367357 - }, - "multiview_masks/top_head": { - "source_nonzero": 46828934.0, - "pinhole_nonzero": 94481476.0, - "area_ratio": 2.01758758804973 - }, - "multiview_masks/hand_left": { - "source_nonzero": 28605529.0, - "pinhole_nonzero": 41769505.0, - "area_ratio": 1.46018991643189 - }, - "multiview_masks/hand_right": { - "source_nonzero": 35934171.0, - "pinhole_nonzero": 44867530.0, - "area_ratio": 1.2486034532423191 - } - }, - "created_unix": 1789878730.4492486 -} diff --git a/human_hand/pourwater/ep000006/source_map.json b/human_hand/pourwater/ep000006/source_map.json deleted file mode 100644 index cdc397d6a773f32118b0a76fb3218e3faba18607..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000006/source_map.json +++ /dev/null @@ -1,1980 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000007/pinhole_migration.json b/human_hand/pourwater/ep000007/pinhole_migration.json deleted file mode 100644 index 4134e7ce207fb6f425224d1c6b1d3aca6d368f52..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000007/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000007", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 6900987.0, - "pinhole_nonzero": 16349027.0, - "area_ratio": 2.3690853206939817 - }, - "multiview_masks/top_head": { - "source_nonzero": 46079854.0, - "pinhole_nonzero": 90741364.0, - "area_ratio": 1.9692198677539212 - }, - "multiview_masks/hand_left": { - "source_nonzero": 27726746.0, - "pinhole_nonzero": 41142683.0, - "area_ratio": 1.4838626573778257 - }, - "multiview_masks/hand_right": { - "source_nonzero": 32511471.0, - "pinhole_nonzero": 46253335.0, - "area_ratio": 1.4226773990017247 - } - }, - "created_unix": 1789878780.7906353 -} diff --git a/human_hand/pourwater/ep000007/source_map.json b/human_hand/pourwater/ep000007/source_map.json deleted file mode 100644 index 8a523876e278b2c97197b67d84278a305a669d9e..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000007/source_map.json +++ /dev/null @@ -1,1944 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000008/pinhole_migration.json b/human_hand/pourwater/ep000008/pinhole_migration.json deleted file mode 100644 index 1d22414c223cba0d7292acc64ccc8de0078d0616..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000008/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000008", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 6383452.0, - "pinhole_nonzero": 13077740.0, - "area_ratio": 2.048694029500026 - }, - "multiview_masks/top_head": { - "source_nonzero": 34145463.0, - "pinhole_nonzero": 65781474.0, - "area_ratio": 1.9265070150022567 - }, - "multiview_masks/hand_left": { - "source_nonzero": 21969840.0, - "pinhole_nonzero": 35017060.0, - "area_ratio": 1.5938695957731144 - }, - "multiview_masks/hand_right": { - "source_nonzero": 24326183.0, - "pinhole_nonzero": 34503029.0, - "area_ratio": 1.4183494796532607 - } - }, - "created_unix": 1789878831.6863775 -} diff --git a/human_hand/pourwater/ep000008/source_map.json b/human_hand/pourwater/ep000008/source_map.json deleted file mode 100644 index 1b56831d61bb27b5facc402294883bd70849c18f..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000008/source_map.json +++ /dev/null @@ -1,1971 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000009/pinhole_migration.json b/human_hand/pourwater/ep000009/pinhole_migration.json deleted file mode 100644 index f5835c590b8ab036c981ca797150609ee9856070..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000009/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000009", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 7196899.0, - "pinhole_nonzero": 15863171.0, - "area_ratio": 2.204167517148705 - }, - "multiview_masks/top_head": { - "source_nonzero": 44095561.0, - "pinhole_nonzero": 81742568.0, - "area_ratio": 1.853759565503657 - }, - "multiview_masks/hand_left": { - "source_nonzero": 25359957.0, - "pinhole_nonzero": 38226577.0, - "area_ratio": 1.507359693078344 - }, - "multiview_masks/hand_right": { - "source_nonzero": 30136885.0, - "pinhole_nonzero": 42416998.0, - "area_ratio": 1.4074778464993976 - } - }, - "created_unix": 1789878884.0239701 -} diff --git a/human_hand/pourwater/ep000009/source_map.json b/human_hand/pourwater/ep000009/source_map.json deleted file mode 100644 index 214c9ac229b8779e1155182250e1336f307a6f94..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000009/source_map.json +++ /dev/null @@ -1,1982 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000010/pinhole_migration.json b/human_hand/pourwater/ep000010/pinhole_migration.json deleted file mode 100644 index cefa5c13305a1c33c7825bd5390e53eeb837657c..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000010/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000010", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 7263677.0, - "pinhole_nonzero": 15937296.0, - "area_ratio": 2.194108576138504 - }, - "multiview_masks/top_head": { - "source_nonzero": 34704627.0, - "pinhole_nonzero": 69878064.0, - "area_ratio": 2.0135085733668885 - }, - "multiview_masks/hand_left": { - "source_nonzero": 17857016.0, - "pinhole_nonzero": 31343257.0, - "area_ratio": 1.7552348611884538 - }, - "multiview_masks/hand_right": { - "source_nonzero": 27095029.0, - "pinhole_nonzero": 40690480.0, - "area_ratio": 1.5017691990659985 - } - }, - "created_unix": 1789878931.4293416 -} diff --git a/human_hand/pourwater/ep000010/source_map.json b/human_hand/pourwater/ep000010/source_map.json deleted file mode 100644 index 57fc68f3b21ee8168cc0d9b0d0d280c9233cf739..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000010/source_map.json +++ /dev/null @@ -1,2009 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000011/pinhole_migration.json b/human_hand/pourwater/ep000011/pinhole_migration.json deleted file mode 100644 index 603217b2c0f221027d4c99856feb5b5bbb8e80f4..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000011/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000011", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 7756439.0, - "pinhole_nonzero": 16303166.0, - "area_ratio": 2.101887992672926 - }, - "multiview_masks/top_head": { - "source_nonzero": 35575804.0, - "pinhole_nonzero": 66269112.0, - "area_ratio": 1.8627579576276057 - }, - "multiview_masks/hand_left": { - "source_nonzero": 17021560.0, - "pinhole_nonzero": 31681098.0, - "area_ratio": 1.861233517961926 - }, - "multiview_masks/hand_right": { - "source_nonzero": 20439362.0, - "pinhole_nonzero": 34402162.0, - "area_ratio": 1.6831328688243792 - } - }, - "created_unix": 1789878974.088049 -} diff --git a/human_hand/pourwater/ep000011/source_map.json b/human_hand/pourwater/ep000011/source_map.json deleted file mode 100644 index 87a4d71545dcc12544d07adb0e523903c8a181a8..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000011/source_map.json +++ /dev/null @@ -1,1967 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000012/pinhole_migration.json b/human_hand/pourwater/ep000012/pinhole_migration.json deleted file mode 100644 index 1886b042315cb262a5b3749a3f369d1912194a74..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000012/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000012", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 13226928.0, - "pinhole_nonzero": 27399423.0, - "area_ratio": 2.071488028059123 - }, - "multiview_masks/top_head": { - "source_nonzero": 33644776.0, - "pinhole_nonzero": 61194757.0, - "area_ratio": 1.8188486973430882 - }, - "multiview_masks/hand_left": { - "source_nonzero": 16626053.0, - "pinhole_nonzero": 29726248.0, - "area_ratio": 1.7879317478417758 - }, - "multiview_masks/hand_right": { - "source_nonzero": 27361096.0, - "pinhole_nonzero": 43462196.0, - "area_ratio": 1.5884669239857936 - } - }, - "created_unix": 1789879024.6566508 -} diff --git a/human_hand/pourwater/ep000012/source_map.json b/human_hand/pourwater/ep000012/source_map.json deleted file mode 100644 index 92adfd05053676f6a51c0aabcfc6498740155981..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000012/source_map.json +++ /dev/null @@ -1,1957 +0,0 @@ -{ - "source_dataset": "", - 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7580 - ], - "source_keyframes": [ - 221, - 489, - 756, - 1011, - 1378, - 1682, - 2065, - 2410, - 2689, - 2972, - 3262, - 3633, - 3955, - 4322, - 4686, - 4992, - 5222, - 5515, - 5831, - 6111, - 6389, - 6647, - 6964, - 7259 - ], - "canonical_keyframes": [ - 55, - 122, - 189, - 253, - 344, - 420, - 516, - 602, - 672, - 743, - 816, - 908, - 989, - 1080, - 1172, - 1248, - 1306, - 1379, - 1458, - 1528, - 1597, - 1662, - 1741, - 1815 - ] -} diff --git a/human_hand/pourwater/ep000012/trajectory.parquet b/human_hand/pourwater/ep000012/trajectory.parquet deleted file mode 100644 index 485ab47525cdbbca9c22c3ccf822af5f033acee2..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000012/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4497c6e4ebb97efa6b1d9566a4d8b36e31a3f6a15e3d61df59e9b2dc9c43c198 -size 7877881 diff --git a/human_hand/pourwater/ep000013/controls/action_57d_spec.json b/human_hand/pourwater/ep000013/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000013/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000013/pinhole_migration.json b/human_hand/pourwater/ep000013/pinhole_migration.json deleted file mode 100644 index 3bf14790f80754a5ccbb1aecb351f69661363db3..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000013/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000013", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 10620383.0, - "pinhole_nonzero": 24615114.0, - "area_ratio": 2.3177237581733166 - }, - "multiview_masks/top_head": { - "source_nonzero": 34249293.0, - "pinhole_nonzero": 62490525.0, - "area_ratio": 1.8245785394752527 - }, - "multiview_masks/hand_left": { - "source_nonzero": 16538606.0, - "pinhole_nonzero": 29978132.0, - "area_ratio": 1.8126154042245157 - }, - "multiview_masks/hand_right": { - "source_nonzero": 25414569.0, - "pinhole_nonzero": 39730555.0, - "area_ratio": 1.5632983978599047 - } - }, - "created_unix": 1789879076.721401 -} diff --git a/human_hand/pourwater/ep000013/source_map.json b/human_hand/pourwater/ep000013/source_map.json deleted file mode 100644 index d1860c08ab9b82d826078fbf1b04faf388f2b456..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000013/source_map.json +++ /dev/null @@ -1,1976 +0,0 @@ -{ - "source_dataset": "", - 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7580, - 7584, - 7588, - 7592, - 7596, - 7600, - 7604, - 7608, - 7612, - 7616, - 7620, - 7624, - 7628, - 7632, - 7636, - 7640, - 7644, - 7648, - 7652, - 7656 - ], - "source_keyframes": [ - 276, - 541, - 816, - 1156, - 1547, - 1880, - 2175, - 2425, - 2795, - 3111, - 3421, - 3730, - 3971, - 4314, - 4674, - 4968, - 5279, - 5609, - 5865, - 6188, - 6492, - 6814, - 7172, - 7446 - ], - "canonical_keyframes": [ - 69, - 135, - 204, - 289, - 387, - 470, - 544, - 606, - 699, - 778, - 855, - 932, - 993, - 1078, - 1168, - 1242, - 1320, - 1402, - 1466, - 1547, - 1623, - 1704, - 1793, - 1862 - ] -} diff --git a/human_hand/pourwater/ep000013/trajectory.parquet b/human_hand/pourwater/ep000013/trajectory.parquet deleted file mode 100644 index b44b46ce3f33db2534689254c48d78b755e5b458..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000013/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:814f8ebf0aa84f84f1d2a3f9b5789e4175493355f240ebcbcbc20bbb78ffc7d9 -size 7963915 diff --git a/human_hand/pourwater/ep000014/controls/action_57d_spec.json b/human_hand/pourwater/ep000014/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000014/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000014/pinhole_migration.json b/human_hand/pourwater/ep000014/pinhole_migration.json deleted file mode 100644 index 995c92ded8a319514ee205cd89274ebca37e54be..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000014/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000014", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 10894276.0, - "pinhole_nonzero": 22141521.0, - "area_ratio": 2.032399491255775 - }, - "multiview_masks/top_head": { - "source_nonzero": 31780854.0, - "pinhole_nonzero": 59943462.0, - "area_ratio": 1.886150133032926 - }, - "multiview_masks/hand_left": { - "source_nonzero": 17888964.0, - "pinhole_nonzero": 31979457.0, - "area_ratio": 1.7876640033486568 - }, - "multiview_masks/hand_right": { - "source_nonzero": 21311606.0, - "pinhole_nonzero": 37002740.0, - "area_ratio": 1.7362717760454092 - } - }, - "created_unix": 1789879124.6759973 -} diff --git a/human_hand/pourwater/ep000014/source_map.json b/human_hand/pourwater/ep000014/source_map.json deleted file mode 100644 index d758069de65196cc905600266b023afc30ad13f2..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000014/source_map.json +++ /dev/null @@ -1,2020 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000017/pinhole_migration.json b/human_hand/pourwater/ep000017/pinhole_migration.json deleted file mode 100644 index 9fe4ddae743fc946c6a4637338e895d67ee5fc50..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000017/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000017", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000018/pinhole_migration.json b/human_hand/pourwater/ep000018/pinhole_migration.json deleted file mode 100644 index 603ecbea0f0011bf8574e7df008e36cda144515a..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000018/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000018", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 7558815.0, - "pinhole_nonzero": 15891709.0, - "area_ratio": 2.1024074540784503 - }, - "multiview_masks/top_head": { - "source_nonzero": 36441706.0, - "pinhole_nonzero": 65442595.0, - "area_ratio": 1.7958158984104642 - }, - "multiview_masks/hand_left": { - "source_nonzero": 17953791.0, - "pinhole_nonzero": 31953391.0, - "area_ratio": 1.7797573225621264 - }, - "multiview_masks/hand_right": { - "source_nonzero": 27063814.0, - "pinhole_nonzero": 48103982.0, - "area_ratio": 1.7774280446946613 - } - }, - "created_unix": 1789879317.3835747 -} diff --git a/human_hand/pourwater/ep000018/source_map.json b/human_hand/pourwater/ep000018/source_map.json deleted file mode 100644 index 01f1dbabaee28a415f0f8b1358d797bdb6d755f7..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000018/source_map.json +++ /dev/null @@ -1,1974 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000019/pinhole_migration.json b/human_hand/pourwater/ep000019/pinhole_migration.json deleted file mode 100644 index 404ef1b8334197691ff3edd6c1ed8151adb7fd98..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000019/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000019", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 8160646.0, - "pinhole_nonzero": 20494348.0, - "area_ratio": 2.511363438629736 - }, - "multiview_masks/top_head": { - "source_nonzero": 44368890.0, - "pinhole_nonzero": 81440755.0, - "area_ratio": 1.835537355115262 - }, - "multiview_masks/hand_left": { - "source_nonzero": 18774647.0, - "pinhole_nonzero": 32134741.0, - "area_ratio": 1.7116029398582036 - }, - "multiview_masks/hand_right": { - "source_nonzero": 30952844.0, - "pinhole_nonzero": 50179553.0, - "area_ratio": 1.6211613058884025 - } - }, - "created_unix": 1789879364.4541276 -} diff --git a/human_hand/pourwater/ep000019/source_map.json b/human_hand/pourwater/ep000019/source_map.json deleted file mode 100644 index acae8954170c69aa6112002e18a635ab8441fe9e..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000019/source_map.json +++ /dev/null @@ -1,1939 +0,0 @@ -{ - "source_dataset": "", - 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4761, - 5044, - 5346, - 5600, - 5907, - 6224, - 6515, - 6832, - 7130, - 7423 - ], - "canonical_keyframes": [ - 78, - 156, - 250, - 332, - 409, - 488, - 565, - 635, - 705, - 783, - 865, - 949, - 1036, - 1111, - 1190, - 1261, - 1336, - 1400, - 1477, - 1556, - 1629, - 1708, - 1782, - 1856 - ] -} diff --git a/human_hand/pourwater/ep000019/trajectory.parquet b/human_hand/pourwater/ep000019/trajectory.parquet deleted file mode 100644 index 74e8ece30cd3ef03cf9db1ba2da92c6c1ef7d5e9..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000019/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:645b15383223fd068619179894088a30ba2c5566ce350d114462d25348372bb4 -size 7832162 diff --git a/human_hand/pourwater/ep000023/controls/action_57d_spec.json b/human_hand/pourwater/ep000023/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000023/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000023/pinhole_migration.json b/human_hand/pourwater/ep000023/pinhole_migration.json deleted file mode 100644 index ec7338d7a424cc6234e1e2815ba6d57b7a7b0a64..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000023/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000023", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 6696618.0, - "pinhole_nonzero": 14507217.0, - "area_ratio": 2.166349790297132 - }, - "multiview_masks/top_head": { - "source_nonzero": 35508731.0, - "pinhole_nonzero": 76534295.0, - "area_ratio": 2.155365535310175 - }, - "multiview_masks/hand_left": { - "source_nonzero": 15592763.0, - "pinhole_nonzero": 29035731.0, - "area_ratio": 1.8621286682802785 - }, - "multiview_masks/hand_right": { - "source_nonzero": 24318157.0, - "pinhole_nonzero": 31757458.0, - "area_ratio": 1.305915493513756 - } - }, - "created_unix": 1789879543.3645387 -} diff --git a/human_hand/pourwater/ep000023/source_map.json b/human_hand/pourwater/ep000023/source_map.json deleted file mode 100644 index 6edb62985b564e90e3f34596fe192dbae1a8b606..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000023/source_map.json +++ /dev/null @@ -1,1935 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pourwater/ep000024/pinhole_migration.json b/human_hand/pourwater/ep000024/pinhole_migration.json deleted file mode 100644 index d13bdeb4925a7eccfe8011edd6265e33000ea11b..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000024/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pourwater", - "episode": "ep000024", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 10434779.0, - "pinhole_nonzero": 21867439.0, - "area_ratio": 2.095630295572144 - }, - "multiview_masks/top_head": { - "source_nonzero": 34742095.0, - "pinhole_nonzero": 65310570.0, - "area_ratio": 1.879868499582423 - }, - "multiview_masks/hand_left": { - "source_nonzero": 14913487.0, - "pinhole_nonzero": 26486203.0, - "area_ratio": 1.7759899478907917 - }, - "multiview_masks/hand_right": { - "source_nonzero": 19276109.0, - "pinhole_nonzero": 33106167.0, - "area_ratio": 1.7174714565060822 - } - }, - "created_unix": 1789879589.5475729 -} diff --git a/human_hand/pourwater/ep000024/source_map.json b/human_hand/pourwater/ep000024/source_map.json deleted file mode 100644 index 8b9b45527e321f92994b832c682e66ae709d4dec..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000024/source_map.json +++ /dev/null @@ -1,1951 +0,0 @@ -{ - "source_dataset": "", - 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409, - 819, - 1107, - 1479, - 1787, - 2066, - 2433, - 2753, - 3034, - 3404, - 3720, - 4005, - 4332, - 4619, - 4963, - 5306, - 5657, - 5906, - 6241, - 6583, - 6824, - 7183 - ], - "canonical_keyframes": [ - 102, - 205, - 277, - 370, - 447, - 516, - 608, - 688, - 758, - 851, - 930, - 1001, - 1083, - 1155, - 1241, - 1326, - 1414, - 1476, - 1560, - 1646, - 1706, - 1796 - ] -} diff --git a/human_hand/pourwater/ep000024/trajectory.parquet b/human_hand/pourwater/ep000024/trajectory.parquet deleted file mode 100644 index 2267fc41fbbc2411520b9284d456077bbd890b46..0000000000000000000000000000000000000000 --- a/human_hand/pourwater/ep000024/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:95cd4ad094d96b206a9d23aef4c22073d2de6e4920f4bcee8086d59f716264dd -size 7892633 diff --git a/human_hand/pulldrawer/ep000000/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000000/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000000/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000000/pinhole_migration.json b/human_hand/pulldrawer/ep000000/pinhole_migration.json deleted file mode 100644 index cb2bd1bbab2062920febc2551158d3d61dfb6fd3..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000000/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000000", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 19443852.0, - "pinhole_nonzero": 38218395.0, - "area_ratio": 1.9655773454766061 - }, - "multiview_masks/top_head": { - "source_nonzero": 39473358.0, - "pinhole_nonzero": 79321628.0, - "area_ratio": 2.009497849156892 - }, - "multiview_masks/hand_left": { - "source_nonzero": 16355239.0, - "pinhole_nonzero": 28290589.0, - "area_ratio": 1.7297569910167623 - }, - "multiview_masks/hand_right": { - "source_nonzero": 28691495.0, - "pinhole_nonzero": 53707124.0, - "area_ratio": 1.8718830789402923 - } - }, - "created_unix": 1789879631.251296 -} diff --git a/human_hand/pulldrawer/ep000000/source_map.json b/human_hand/pulldrawer/ep000000/source_map.json deleted file mode 100644 index b18d3e90a48562b88b97217ae106b9ea0f5bc970..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000000/source_map.json +++ /dev/null @@ -1,1922 +0,0 @@ -{ - "source_dataset": "", - 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96, - 178, - 257, - 358, - 453, - 544, - 630, - 706, - 784, - 865, - 959, - 1038, - 1113, - 1203, - 1307, - 1377, - 1458, - 1534, - 1608, - 1696, - 1791 - ] -} diff --git a/human_hand/pulldrawer/ep000000/trajectory.parquet b/human_hand/pulldrawer/ep000000/trajectory.parquet deleted file mode 100644 index a2b4aa13ddfe387baaaa0bdca3364edf46e771ec..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000000/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f9bfe83f1a86ed22ef1baf005531d7caa0f0902adce52ea19fd6503766b4121b -size 7747109 diff --git a/human_hand/pulldrawer/ep000001/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000001/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000001/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000001/pinhole_migration.json b/human_hand/pulldrawer/ep000001/pinhole_migration.json deleted file mode 100644 index 992d47bad66999e10984940ae10ce10748cb268c..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000001/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000001", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 21938817.0, - "pinhole_nonzero": 42596140.0, - "area_ratio": 1.9415878258157675 - }, - "multiview_masks/top_head": { - "source_nonzero": 51974382.0, - "pinhole_nonzero": 97696049.0, - "area_ratio": 1.8796962126456838 - }, - "multiview_masks/hand_left": { - "source_nonzero": 23524398.0, - "pinhole_nonzero": 44227515.0, - "area_ratio": 1.8800700022164223 - }, - "multiview_masks/hand_right": { - "source_nonzero": 26831218.0, - "pinhole_nonzero": 45834005.0, - "area_ratio": 1.7082342292474386 - } - }, - "created_unix": 1789879670.634727 -} diff --git a/human_hand/pulldrawer/ep000001/source_map.json b/human_hand/pulldrawer/ep000001/source_map.json deleted file mode 100644 index 80c540e05f2618ecbedac969dabdcb5c1b894235..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000001/source_map.json +++ /dev/null @@ -1,1941 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000002/pinhole_migration.json b/human_hand/pulldrawer/ep000002/pinhole_migration.json deleted file mode 100644 index d0c8600f33e12bf2d34ea97e7eb9a972c2dcc7c6..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000002/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000002", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 18980397.0, - "pinhole_nonzero": 41889439.0, - "area_ratio": 2.2069843428459373 - }, - "multiview_masks/top_head": { - "source_nonzero": 50034338.0, - "pinhole_nonzero": 102257672.0, - "area_ratio": 2.0437498743363007 - }, - "multiview_masks/hand_left": { - "source_nonzero": 43354325.0, - "pinhole_nonzero": 73357542.0, - "area_ratio": 1.692046687383554 - }, - "multiview_masks/hand_right": { - "source_nonzero": 19820555.0, - "pinhole_nonzero": 33154407.0, - "area_ratio": 1.6727284881780555 - } - }, - "created_unix": 1789879715.3528628 -} diff --git a/human_hand/pulldrawer/ep000002/source_map.json b/human_hand/pulldrawer/ep000002/source_map.json deleted file mode 100644 index de5c35e407a167edd27e3d98539e69c3f25bb2eb..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000002/source_map.json +++ /dev/null @@ -1,1960 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000003/pinhole_migration.json b/human_hand/pulldrawer/ep000003/pinhole_migration.json deleted file mode 100644 index 1929793c2ce344bbed6a2cae77ddb0dd88f66951..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000003/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000003", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 24368999.0, - "pinhole_nonzero": 50205609.0, - "area_ratio": 2.0602245090165585 - }, - "multiview_masks/top_head": { - "source_nonzero": 46828787.0, - "pinhole_nonzero": 90332690.0, - "area_ratio": 1.928999143197965 - }, - "multiview_masks/hand_left": { - "source_nonzero": 20730006.0, - "pinhole_nonzero": 36797219.0, - "area_ratio": 1.7750703497143223 - }, - "multiview_masks/hand_right": { - "source_nonzero": 33328699.0, - "pinhole_nonzero": 62868717.0, - "area_ratio": 1.8863237655931304 - } - }, - "created_unix": 1789879754.7957356 -} diff --git a/human_hand/pulldrawer/ep000003/source_map.json b/human_hand/pulldrawer/ep000003/source_map.json deleted file mode 100644 index 25c8c38616477e310c8efe1836b8c373afd18c25..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000003/source_map.json +++ /dev/null @@ -1,1960 +0,0 @@ -{ - "source_dataset": "", - 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7580, - 7584, - 7588, - 7592 - ], - "source_keyframes": [ - 322, - 612, - 932, - 1226, - 1533, - 1836, - 2149, - 2464, - 2751, - 3064, - 3350, - 3628, - 3947, - 4255, - 4558, - 4859, - 5166, - 5451, - 5751, - 6044, - 6365, - 6663, - 6964, - 7312 - ], - "canonical_keyframes": [ - 80, - 153, - 233, - 306, - 383, - 459, - 537, - 616, - 688, - 766, - 838, - 907, - 987, - 1064, - 1140, - 1215, - 1292, - 1363, - 1438, - 1511, - 1591, - 1666, - 1741, - 1828 - ] -} diff --git a/human_hand/pulldrawer/ep000003/trajectory.parquet b/human_hand/pulldrawer/ep000003/trajectory.parquet deleted file mode 100644 index a5a0c85c09888618baad9705cac61322c6fd799b..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000003/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:807437dcf460a185a69116277b189d9f3f4620a8da6f34d688cb6c7467c99a59 -size 7908521 diff --git a/human_hand/pulldrawer/ep000004/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000004/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000004/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000004/pinhole_migration.json b/human_hand/pulldrawer/ep000004/pinhole_migration.json deleted file mode 100644 index cdef908e9ecf1254ac7a48406b9fe82bb596258d..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000004/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000004", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 21711492.0, - "pinhole_nonzero": 47516760.0, - "area_ratio": 2.188553416780385 - }, - "multiview_masks/top_head": { - "source_nonzero": 41214424.0, - "pinhole_nonzero": 78877069.0, - "area_ratio": 1.913821942531576 - }, - "multiview_masks/hand_left": { - "source_nonzero": 17332135.0, - "pinhole_nonzero": 33047774.0, - "area_ratio": 1.906734167487156 - }, - "multiview_masks/hand_right": { - "source_nonzero": 29232231.0, - "pinhole_nonzero": 46823432.0, - "area_ratio": 1.6017741512784296 - } - }, - "created_unix": 1789879793.8644025 -} diff --git a/human_hand/pulldrawer/ep000004/source_map.json b/human_hand/pulldrawer/ep000004/source_map.json deleted file mode 100644 index 7a05c39a8980d49513b9dbfa6912461e1b1e0c42..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000004/source_map.json +++ /dev/null @@ -1,1925 +0,0 @@ -{ - "source_dataset": "", - 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86, - 167, - 252, - 330, - 411, - 491, - 574, - 659, - 735, - 810, - 894, - 981, - 1065, - 1144, - 1238, - 1328, - 1412, - 1509, - 1589, - 1669, - 1751, - 1826 - ] -} diff --git a/human_hand/pulldrawer/ep000004/trajectory.parquet b/human_hand/pulldrawer/ep000004/trajectory.parquet deleted file mode 100644 index 80faeb746a964f05423bc43c84a1864abaf3502d..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000004/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fcea6fe0fe44e1732c5769a98b28781552ee82c29f123177087f7a3ede74c761 -size 7707371 diff --git a/human_hand/pulldrawer/ep000005/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000005/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000005/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000005/pinhole_migration.json b/human_hand/pulldrawer/ep000005/pinhole_migration.json deleted file mode 100644 index 15e0ea388ba45e5d7f96085b92e799f35bfcfbe5..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000005/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000005", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 18307307.0, - "pinhole_nonzero": 41842393.0, - "area_ratio": 2.2855569636757607 - }, - "multiview_masks/top_head": { - "source_nonzero": 50611683.0, - "pinhole_nonzero": 98107928.0, - "area_ratio": 1.9384442916075326 - }, - "multiview_masks/hand_left": { - "source_nonzero": 37658748.0, - "pinhole_nonzero": 49785864.0, - "area_ratio": 1.3220265315246273 - }, - "multiview_masks/hand_right": { - "source_nonzero": 34462066.0, - "pinhole_nonzero": 63037534.0, - "area_ratio": 1.829186155003011 - } - }, - "created_unix": 1789879836.4041526 -} diff --git a/human_hand/pulldrawer/ep000005/source_map.json b/human_hand/pulldrawer/ep000005/source_map.json deleted file mode 100644 index b1c17589d2b2853606501bb64b175784cf7d7c59..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000005/source_map.json +++ /dev/null @@ -1,1940 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000006/pinhole_migration.json b/human_hand/pulldrawer/ep000006/pinhole_migration.json deleted file mode 100644 index 404bf07f336cfdf68fa03cb7a497a9be5b7d845c..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000006/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000007/pinhole_migration.json b/human_hand/pulldrawer/ep000007/pinhole_migration.json deleted file mode 100644 index 943e665a1832f8dab5f923e22b2624eca36d898b..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000007/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000007", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 22554998.0, - "pinhole_nonzero": 47823470.0, - "area_ratio": 2.1203047767949257 - }, - "multiview_masks/top_head": { - "source_nonzero": 39934083.0, - "pinhole_nonzero": 79078966.0, - "area_ratio": 1.9802374327713999 - }, - "multiview_masks/hand_left": { - "source_nonzero": 16757493.0, - "pinhole_nonzero": 29109417.0, - "area_ratio": 1.7370985624162278 - }, - "multiview_masks/hand_right": { - "source_nonzero": 32208053.0, - "pinhole_nonzero": 56890221.0, - "area_ratio": 1.7663353012987155 - } - }, - "created_unix": 1789879918.5049376 -} diff --git a/human_hand/pulldrawer/ep000007/source_map.json b/human_hand/pulldrawer/ep000007/source_map.json deleted file mode 100644 index 50e4a01901f48682faeb932e84d726e5e08b4e75..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000007/source_map.json +++ /dev/null @@ -1,1930 +0,0 @@ -{ - "source_dataset": "", - 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6885, - 7165 - ], - "canonical_keyframes": [ - 83, - 160, - 235, - 312, - 389, - 473, - 553, - 635, - 710, - 784, - 864, - 935, - 1010, - 1086, - 1160, - 1242, - 1325, - 1406, - 1486, - 1558, - 1642, - 1721, - 1791 - ] -} diff --git a/human_hand/pulldrawer/ep000007/trajectory.parquet b/human_hand/pulldrawer/ep000007/trajectory.parquet deleted file mode 100644 index 583ed8ba1e0949b3f62f12bcb83bd73ae73d9e4c..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000007/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c7621b937aa429428dc16a6cee4a612378c33842762bbd9373544117413fc518 -size 7759635 diff --git a/human_hand/pulldrawer/ep000008/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000008/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000008/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000008/pinhole_migration.json b/human_hand/pulldrawer/ep000008/pinhole_migration.json deleted file mode 100644 index 2881283c043c5451b114761c0eb61f335b217309..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000008/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000008", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 22726137.0, - "pinhole_nonzero": 56326274.0, - "area_ratio": 2.4784799105980926 - }, - "multiview_masks/top_head": { - "source_nonzero": 57849972.0, - "pinhole_nonzero": 105698505.0, - "area_ratio": 1.8271141946274407 - }, - "multiview_masks/hand_left": { - "source_nonzero": 26112728.0, - "pinhole_nonzero": 47344097.0, - "area_ratio": 1.8130659117653276 - }, - "multiview_masks/hand_right": { - "source_nonzero": 38727780.0, - "pinhole_nonzero": 76103417.0, - "area_ratio": 1.9650859667143328 - } - }, - "created_unix": 1789879960.9258502 -} diff --git a/human_hand/pulldrawer/ep000008/source_map.json b/human_hand/pulldrawer/ep000008/source_map.json deleted file mode 100644 index c98205b964743dee276f169ac2393f89e381aa85..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000008/source_map.json +++ /dev/null @@ -1,1937 +0,0 @@ -{ - "source_dataset": "", - 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4697, - 4982, - 5309, - 5623, - 5952, - 6293, - 6633, - 6983, - 7297 - ], - "canonical_keyframes": [ - 80, - 153, - 227, - 314, - 396, - 480, - 559, - 642, - 715, - 788, - 868, - 947, - 1024, - 1099, - 1174, - 1246, - 1327, - 1406, - 1488, - 1573, - 1658, - 1746, - 1824 - ] -} diff --git a/human_hand/pulldrawer/ep000008/trajectory.parquet b/human_hand/pulldrawer/ep000008/trajectory.parquet deleted file mode 100644 index 1ac29402e5f09ed61729f221aefd51c0e362b139..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000008/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1033745f53d7eb76b01a6cc57fdb4a697c208d5b10e62d1dacf978b4bbcb9c6d -size 7738453 diff --git a/human_hand/pulldrawer/ep000011/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000011/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000011/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000011/pinhole_migration.json b/human_hand/pulldrawer/ep000011/pinhole_migration.json deleted file mode 100644 index 515debb9fc077ced3eac625a4b43e539b043059e..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000011/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000011", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 18645633.0, - "pinhole_nonzero": 45962764.0, - "area_ratio": 2.465068576647411 - }, - "multiview_masks/top_head": { - "source_nonzero": 46189161.0, - "pinhole_nonzero": 86107652.0, - "area_ratio": 1.8642393612648647 - }, - "multiview_masks/hand_left": { - "source_nonzero": 37652192.0, - "pinhole_nonzero": 58496916.0, - "area_ratio": 1.553612496186145 - }, - "multiview_masks/hand_right": { - "source_nonzero": 35946185.0, - "pinhole_nonzero": 74277229.0, - "area_ratio": 2.0663452602828367 - } - }, - "created_unix": 1789880053.451302 -} diff --git a/human_hand/pulldrawer/ep000011/source_map.json b/human_hand/pulldrawer/ep000011/source_map.json deleted file mode 100644 index 774d4fc28289bd6f2246ff8282d5d1359c6ce7e6..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000011/source_map.json +++ /dev/null @@ -1,1919 +0,0 @@ -{ - "source_dataset": "", - 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"layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000012/pinhole_migration.json b/human_hand/pulldrawer/ep000012/pinhole_migration.json deleted file mode 100644 index d5c394463037a688e232b54a6cff9b246e597d9e..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000012/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - 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Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 25730463.0, - "pinhole_nonzero": 56256736.0, - "area_ratio": 2.1863864633916616 - }, - "multiview_masks/top_head": { - "source_nonzero": 40662349.0, - "pinhole_nonzero": 75372596.0, - "area_ratio": 1.8536212947264803 - }, - "multiview_masks/hand_left": { - "source_nonzero": 21166614.0, - "pinhole_nonzero": 38766980.0, - "area_ratio": 1.8315154232982187 - }, - "multiview_masks/hand_right": { - "source_nonzero": 27863028.0, - "pinhole_nonzero": 46486257.0, - "area_ratio": 1.6683849651947376 - } - }, - "created_unix": 1789880094.2002583 -} diff --git a/human_hand/pulldrawer/ep000012/source_map.json b/human_hand/pulldrawer/ep000012/source_map.json deleted file mode 100644 index 0e5f49e879cb49da01793e5d585e0eccfbc3b3b9..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000012/source_map.json +++ /dev/null @@ -1,1974 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000013/pinhole_migration.json b/human_hand/pulldrawer/ep000013/pinhole_migration.json deleted file mode 100644 index a15a01687f9ac9fa33fcdf6e78fe3c23a460d2eb..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000013/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000013", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 23530307.0, - "pinhole_nonzero": 53781465.0, - "area_ratio": 2.2856253001713918 - }, - "multiview_masks/top_head": { - "source_nonzero": 54049991.0, - "pinhole_nonzero": 107190728.0, - "area_ratio": 1.9831775365142985 - }, - "multiview_masks/hand_left": { - "source_nonzero": 32357102.0, - "pinhole_nonzero": 60455917.0, - "area_ratio": 1.8683971450842538 - }, - "multiview_masks/hand_right": { - "source_nonzero": 39362621.0, - "pinhole_nonzero": 51969880.0, - "area_ratio": 1.3202850491078832 - } - }, - "created_unix": 1789880139.5000148 -} diff --git a/human_hand/pulldrawer/ep000013/source_map.json b/human_hand/pulldrawer/ep000013/source_map.json deleted file mode 100644 index bb0670ea142e397805896fbceac101f19af31962..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000013/source_map.json +++ /dev/null @@ -1,1906 +0,0 @@ -{ - "source_dataset": "", - 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1634, - 1717, - 1795 - ] -} diff --git a/human_hand/pulldrawer/ep000013/trajectory.parquet b/human_hand/pulldrawer/ep000013/trajectory.parquet deleted file mode 100644 index 6e9c63d59e43738624eeb14d302a93bc1a9f6a25..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000013/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2c02ef63daa3a2e052b970a1b970c610382ad50ab40c489dadeae26a01ec09f8 -size 7676739 diff --git a/human_hand/pulldrawer/ep000014/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000014/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000014/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000014/pinhole_migration.json b/human_hand/pulldrawer/ep000014/pinhole_migration.json deleted file mode 100644 index 3d495bcf383bbbca648dec87134239655a59f198..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000014/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000014", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 22128248.0, - "pinhole_nonzero": 51603719.0, - "area_ratio": 2.3320291330791303 - }, - "multiview_masks/top_head": { - "source_nonzero": 41652490.0, - "pinhole_nonzero": 86799239.0, - "area_ratio": 2.0838907589918394 - }, - "multiview_masks/hand_left": { - "source_nonzero": 18435493.0, - "pinhole_nonzero": 34529032.0, - "area_ratio": 1.87296493779689 - }, - "multiview_masks/hand_right": { - "source_nonzero": 31742084.0, - "pinhole_nonzero": 43852280.0, - "area_ratio": 1.381518617366144 - } - }, - "created_unix": 1789880182.1206985 -} diff --git a/human_hand/pulldrawer/ep000014/source_map.json b/human_hand/pulldrawer/ep000014/source_map.json deleted file mode 100644 index 6f4c4b8d3403cc1c47123a1fb1d0093f69ccf905..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000014/source_map.json +++ /dev/null @@ -1,1953 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000019/pinhole_migration.json b/human_hand/pulldrawer/ep000019/pinhole_migration.json deleted file mode 100644 index 763fac6f9ea64687b8e54e32d8c1371847d09157..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000019/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000019", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 22518445.0, - "pinhole_nonzero": 47728065.0, - "area_ratio": 2.119509806294351 - }, - "multiview_masks/top_head": { - "source_nonzero": 46202469.0, - "pinhole_nonzero": 93432987.0, - "area_ratio": 2.0222509537314988 - }, - "multiview_masks/hand_left": { - "source_nonzero": 30976408.0, - "pinhole_nonzero": 60344875.0, - "area_ratio": 1.948091431388688 - }, - "multiview_masks/hand_right": { - "source_nonzero": 31894157.0, - "pinhole_nonzero": 41135586.0, - "area_ratio": 1.2897530415994378 - } - }, - "created_unix": 1789880318.7505333 -} diff --git a/human_hand/pulldrawer/ep000019/source_map.json b/human_hand/pulldrawer/ep000019/source_map.json deleted file mode 100644 index f161a782aee1de6871cfc657d1487df92be753ac..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000019/source_map.json +++ /dev/null @@ -1,1926 +0,0 @@ -{ - "source_dataset": "", - 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"width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000020/pinhole_migration.json b/human_hand/pulldrawer/ep000020/pinhole_migration.json deleted file mode 100644 index 8b4cc3c9cb6d8a4e44e19d96922655e08ef4203b..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000020/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - 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], - "canonical_keyframes": [ - 76, - 188, - 273, - 367, - 455, - 536, - 621, - 716, - 812, - 896, - 971, - 1047, - 1132, - 1213, - 1292, - 1378, - 1462, - 1532, - 1608, - 1691, - 1776 - ] -} diff --git a/human_hand/pulldrawer/ep000020/trajectory.parquet b/human_hand/pulldrawer/ep000020/trajectory.parquet deleted file mode 100644 index a78d172b379ad25ae91a78a2762de011739e8503..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000020/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1995d5db03a79ddc386a0323aeb92dfc22a3498f3acd527825ce437a07d8a33a -size 7768284 diff --git a/human_hand/pulldrawer/ep000021/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000021/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000021/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000021/pinhole_migration.json b/human_hand/pulldrawer/ep000021/pinhole_migration.json deleted file mode 100644 index 3f0f1a967fdd6a628218ca67b4720809b234005c..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000021/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000021", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 26378415.0, - "pinhole_nonzero": 55653222.0, - "area_ratio": 2.109801593461927 - }, - "multiview_masks/top_head": { - "source_nonzero": 36626145.0, - "pinhole_nonzero": 72732366.0, - "area_ratio": 1.9858045666558684 - }, - "multiview_masks/hand_left": { - "source_nonzero": 22642787.0, - "pinhole_nonzero": 41562988.0, - "area_ratio": 1.8355950616856485 - }, - "multiview_masks/hand_right": { - "source_nonzero": 28943283.0, - "pinhole_nonzero": 49927357.0, - "area_ratio": 1.7250066967178532 - } - }, - "created_unix": 1789880399.703315 -} diff --git a/human_hand/pulldrawer/ep000021/source_map.json b/human_hand/pulldrawer/ep000021/source_map.json deleted file mode 100644 index f6edd770ad64bf1e4aee74a30326fa4f6c30b12e..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000021/source_map.json +++ /dev/null @@ -1,1973 +0,0 @@ -{ - "source_dataset": "", - 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7580, - 7584, - 7588, - 7592, - 7596, - 7600, - 7604, - 7608, - 7612, - 7616, - 7620, - 7624, - 7628, - 7632, - 7636, - 7640, - 7644 - ], - "source_keyframes": [ - 306, - 666, - 936, - 1256, - 1535, - 1843, - 2130, - 2418, - 2695, - 2961, - 3224, - 3552, - 3850, - 4115, - 4435, - 4796, - 5066, - 5370, - 5705, - 6060, - 6404, - 6747, - 7035, - 7323 - ], - "canonical_keyframes": [ - 76, - 166, - 234, - 314, - 384, - 461, - 532, - 604, - 674, - 740, - 806, - 888, - 962, - 1029, - 1109, - 1199, - 1266, - 1342, - 1426, - 1515, - 1601, - 1687, - 1759, - 1831 - ] -} diff --git a/human_hand/pulldrawer/ep000021/trajectory.parquet b/human_hand/pulldrawer/ep000021/trajectory.parquet deleted file mode 100644 index 19c53e46bf676404a2a2a9e9651282162946bdd6..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000021/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3255dfbf05de0005a7905f73b998d268f8e9e3b3a657439d8313f86c04a66d1b -size 7528815 diff --git a/human_hand/pulldrawer/ep000023/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000023/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000023/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000023/pinhole_migration.json b/human_hand/pulldrawer/ep000023/pinhole_migration.json deleted file mode 100644 index a4204aeb8f7a39a7c597884f1b2faf76b26e1e4a..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000023/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000023", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 21406503.0, - "pinhole_nonzero": 47494128.0, - "area_ratio": 2.2186775672794385 - }, - "multiview_masks/top_head": { - "source_nonzero": 41745907.0, - "pinhole_nonzero": 85576378.0, - "area_ratio": 2.049934572028822 - }, - "multiview_masks/hand_left": { - "source_nonzero": 19542654.0, - "pinhole_nonzero": 37238217.0, - "area_ratio": 1.9054841271814975 - }, - "multiview_masks/hand_right": { - "source_nonzero": 34392962.0, - "pinhole_nonzero": 46793320.0, - "area_ratio": 1.3605492891249087 - } - }, - "created_unix": 1789880446.1371129 -} diff --git a/human_hand/pulldrawer/ep000023/source_map.json b/human_hand/pulldrawer/ep000023/source_map.json deleted file mode 100644 index 26dae3dac150314378845a4005bde6a47cdd1e53..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000023/source_map.json +++ /dev/null @@ -1,1982 +0,0 @@ -{ - "source_dataset": "", - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000025/pinhole_migration.json b/human_hand/pulldrawer/ep000025/pinhole_migration.json deleted file mode 100644 index 3f345fc1fed6a392ee267412d205f5000d0af04d..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000025/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000025", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 20685104.0, - "pinhole_nonzero": 43198737.0, - "area_ratio": 2.0883983469457053 - }, - "multiview_masks/top_head": { - "source_nonzero": 33041093.0, - "pinhole_nonzero": 66486139.0, - "area_ratio": 2.0122257759451236 - }, - "multiview_masks/hand_left": { - "source_nonzero": 23676133.0, - "pinhole_nonzero": 44446426.0, - "area_ratio": 1.877267119592545 - }, - "multiview_masks/hand_right": { - "source_nonzero": 25277873.0, - "pinhole_nonzero": 33733477.0, - "area_ratio": 1.334506150893313 - } - }, - "created_unix": 1789880538.6521153 -} diff --git a/human_hand/pulldrawer/ep000025/source_map.json b/human_hand/pulldrawer/ep000025/source_map.json deleted file mode 100644 index 3b62508c469ac725d502c66b8ca26520880a1d72..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000025/source_map.json +++ /dev/null @@ -1,1925 +0,0 @@ -{ - "source_dataset": "", - 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83, - 154, - 228, - 306, - 383, - 480, - 561, - 629, - 712, - 794, - 836, - 915, - 1005, - 1084, - 1170, - 1238, - 1310, - 1386, - 1466, - 1547, - 1608, - 1692, - 1766 - ] -} diff --git a/human_hand/pulldrawer/ep000025/trajectory.parquet b/human_hand/pulldrawer/ep000025/trajectory.parquet deleted file mode 100644 index 80017c9cbf51342cef82a342102737f402f07e0f..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000025/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8e45f702bd7e40cf2ff2b1a8c6ecc6c8da912c604f60cb656b306ac53492ed51 -size 7736002 diff --git a/human_hand/pulldrawer/ep000027/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000027/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000027/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000027/pinhole_migration.json b/human_hand/pulldrawer/ep000027/pinhole_migration.json deleted file mode 100644 index 5e5c49c9777bf2154e85ac614194d51f6507a762..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000027/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000027", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 24896780.0, - "pinhole_nonzero": 52415299.0, - "area_ratio": 2.1053043405613097 - }, - "multiview_masks/top_head": { - "source_nonzero": 49515089.0, - "pinhole_nonzero": 98449908.0, - "area_ratio": 1.9882809460364699 - }, - "multiview_masks/hand_left": { - "source_nonzero": 22891354.0, - "pinhole_nonzero": 43943086.0, - "area_ratio": 1.919636820084998 - }, - "multiview_masks/hand_right": { - "source_nonzero": 35840084.0, - "pinhole_nonzero": 43853063.0, - "area_ratio": 1.2235758989850583 - } - }, - "created_unix": 1789880631.0213523 -} diff --git a/human_hand/pulldrawer/ep000027/source_map.json b/human_hand/pulldrawer/ep000027/source_map.json deleted file mode 100644 index 74ea9df71f3e0fd57394534efd41f21c184b3b13..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000027/source_map.json +++ /dev/null @@ -1,1958 +0,0 @@ -{ - "source_dataset": "", - 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7580, - 7584 - ], - "source_keyframes": [ - 365, - 642, - 966, - 1241, - 1571, - 1891, - 2219, - 2523, - 2811, - 3123, - 3422, - 3681, - 3957, - 4273, - 4567, - 4866, - 5136, - 5446, - 5790, - 6156, - 6486, - 6743, - 7109, - 7414 - ], - "canonical_keyframes": [ - 91, - 160, - 242, - 310, - 393, - 473, - 555, - 631, - 703, - 781, - 856, - 920, - 989, - 1068, - 1142, - 1216, - 1284, - 1362, - 1448, - 1539, - 1622, - 1686, - 1777, - 1854 - ] -} diff --git a/human_hand/pulldrawer/ep000027/trajectory.parquet b/human_hand/pulldrawer/ep000027/trajectory.parquet deleted file mode 100644 index da7b68587c03902500aa8a8cca2c4c653d0cecb5..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000027/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:621331c3a411e9b527504015676e42d15b5b431e3714cac8f4784c9b9cfef253 -size 7914063 diff --git a/human_hand/pulldrawer/ep000029/controls/action_57d_spec.json b/human_hand/pulldrawer/ep000029/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000029/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/human_hand/pulldrawer/ep000029/pinhole_migration.json b/human_hand/pulldrawer/ep000029/pinhole_migration.json deleted file mode 100644 index 54e2fed6e9c5ed7f1c289a50d48186a63c4800ce..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000029/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pulldrawer", - "episode": "ep000029", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 24991601.0, - "pinhole_nonzero": 52706400.0, - "area_ratio": 2.108964527722734 - }, - "multiview_masks/top_head": { - "source_nonzero": 47004658.0, - "pinhole_nonzero": 96105334.0, - "area_ratio": 2.0445917083366503 - }, - "multiview_masks/hand_left": { - "source_nonzero": 23582179.0, - "pinhole_nonzero": 43659248.0, - "area_ratio": 1.8513661523814233 - }, - "multiview_masks/hand_right": { - "source_nonzero": 36824567.0, - "pinhole_nonzero": 68515432.0, - "area_ratio": 1.8605902956034759 - } - }, - "created_unix": 1789880675.6550188 -} diff --git a/human_hand/pulldrawer/ep000029/source_map.json b/human_hand/pulldrawer/ep000029/source_map.json deleted file mode 100644 index 66ae4922596e596a7f875ed309003bdfb7687a99..0000000000000000000000000000000000000000 --- a/human_hand/pulldrawer/ep000029/source_map.json +++ /dev/null @@ -1,1942 +0,0 @@ -{ - "source_dataset": "", - 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