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}, - "hand_state/right/ori": { - "description": "21 XYZW quaternions", - "dimensions": 84, - "indices": [ - 148, - 149, - 150, - 151, - 152, - 153, - 154, - 155, - 156, - 157, - 158, - 159, - 160, - 161, - 162, - 163, - 164, - 165, - 166, - 167, - 168, - 169, - 170, - 171, - 172, - 173, - 174, - 175, - 176, - 177, - 178, - 179, - 180, - 181, - 182, - 183, - 184, - 185, - 186, - 187, - 188, - 189, - 190, - 191, - 192, - 193, - 194, - 195, - 196, - 197, - 198, - 199, - 200, - 201, - 202, - 203, - 204, - 205, - 206, - 207, - 208, - 209, - 210, - 211, - 212, - 213, - 214, - 215, - 216, - 217, - 218, - 219, - 220, - 221, - 222, - 223, - 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, 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"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": "pickfruit" } diff --git a/human_hand/pourwater/ep000000/controls/hand_camera_poses.npz b/human_hand/pourwater/ep000000/controls/hand_camera_poses.npz index 6499c83ab0554a561254e43c28fc978982fbc367..d22894c165d9366ee47c0ac687547f68eff02443 100644 --- a/human_hand/pourwater/ep000000/controls/hand_camera_poses.npz +++ b/human_hand/pourwater/ep000000/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version 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"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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