| { |
| "schema": "htd_organizer_pose_and_camera_v1", |
| "converter_version": "0.8.3", |
| "scope": "Self-contained descriptive note for the full 871-episode HTD export with converter v0.8.3. It retains the same pose transformations and camera estimate as the reviewed 20-episode example. Dataset paths are Zarr keys; historical document hashes are provenance references rather than dependencies.", |
| "shape_and_encoding": "Every field is float64[T,6]: x,y,z in metres then rotation-vector x,y,z in radians. Source XYZ/RPY poses are converted, not relabeled.", |
| "naming_direction": "A_to_B denotes the pose of A expressed in B; its homogeneous matrix maps coordinates from A into B.", |
| "row_alignment": "Same retained timestamp rows as all data arrays; the numeric source archive additionally preserves every original row.", |
| "reference_frame": "torso_link: +X forward, +Y left, +Z up", |
| "world_frame_qualification": "All standard wrist/camera poses share the co-moving torso_link reference. This does not fulfill the tutorial wording of fixed-world wrist trajectories; acceptance of this explicit qualification belongs to OXT maintainers. Neither these poses nor the auxiliary feet-defined torso pose are room/world odometry.", |
| "wrist_axes": "OXT ego convention: +Z along extended fingers, +Y palmar, +X completes right-handed basis; wrist-yaw origin recovered from recorded EEF 0.05 m offset; nominal hand mounting.", |
| "recorded_wrist_source": { |
| "dataset_key": "observations/proprioceptions/eef_to_body_proprio", |
| "source_column_slices_half_open": { |
| "right": [ |
| 0, |
| 6 |
| ], |
| "left": [ |
| 6, |
| 12 |
| ] |
| }, |
| "source_pose_format": "xyz_rpy_extrinsic_xyz", |
| "source_rpy_convention": "Rz(yaw) @ Ry(pitch) @ Rx(roll), fixed-axis/extrinsic xyz; converted to rotation vectors, never relabeled as rotvec.", |
| "derivation": "T_torso_canonical_wrist = T_torso_recorded_eef @ T_recorded_eef_canonical_wrist", |
| "T_recorded_eef_canonical_wrist_both_sides": [ |
| [ |
| 0.0, |
| 0.0, |
| 1.0, |
| -0.05 |
| ], |
| [ |
| -1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| -1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "output_keys": [ |
| "data/left_wrist_pose", |
| "data/right_wrist_pose" |
| ], |
| "source_policy": "Reads repaired eef_to_body observations as provided. No additional historical rotation repair is applied and repaired sources are never modified." |
| }, |
| "aliases": { |
| "representation": "Separate Zarr arrays containing exact float64 value copies; not Zarr links.", |
| "alias_kind": "exact_value_copy", |
| "aliases": { |
| "camera_ego_to_torso_pose_estimated": "data/camera_ego_pose", |
| "left_wrist_to_torso_pose": "data/left_wrist_pose", |
| "right_wrist_to_torso_pose": "data/right_wrist_pose" |
| }, |
| "attributes": "Each explicit alias records alias_of, alias_kind and oxt_compatibility_key; each standard field records explicit_frame_alias.", |
| "torso_pose_to_robot_ground_frame": "Additional recorded body pose; not an alias and not automatically consumed by stock FTP." |
| }, |
| "auxiliary_torso_pose": { |
| "reference_frame": "per_frame_feet_flat_kinematic_ground_estimate", |
| "source_dataset": "observations/proprioceptions/body_proprio", |
| "source_columns": [ |
| 0, |
| 6 |
| ], |
| "derivation": "T_robot_ground_torso from recorded body_proprio; XYZ/RPY converted to XYZ/rotation-vector", |
| "status": "Recorded kinematic torso pose in the per-frame feet-flat robot ground estimate; not measured fixed-world odometry.", |
| "transform_direction": "maps torso_link coordinates into the per-frame robot ground estimate", |
| "reference_frame_definition": { |
| "origin": "midpoint of left_ankle_roll_link and right_ankle_roll_link origins", |
| "z_axis": "normalized sum of the two foot Z axes", |
| "x_axis": "normalized average foot-forward direction projected perpendicular to Z", |
| "y_axis": "Z cross X", |
| "update": "recomputed from current joint positions on every estimator call", |
| "feet_weighting": "equal weights; no contact-state selection", |
| "sole_height_correction": false, |
| "uses_imu": false, |
| "is_persistent_world": false |
| } |
| }, |
| "camera": { |
| "standard_key": "data/camera_ego_pose", |
| "exact_value_alias": "data/camera_ego_to_torso_pose_estimated", |
| "camera_frame": "upright image optical frame: +X image-right, +Y image-down, +Z optical-forward", |
| "transform_direction": "T_torso_optical maps optical-camera coordinates into torso_link coordinates.", |
| "T_torso_ego_optical": [ |
| [ |
| 0.0, |
| -0.5842335341734443, |
| 0.811585594713957, |
| 0.09081122829004291 |
| ], |
| [ |
| -1.0, |
| -0.0, |
| 0.0, |
| 0.030000000000002264 |
| ], |
| [ |
| 0.0, |
| -0.811585594713957, |
| -0.5842335341734443, |
| 0.42294741448019024 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "xyz_rotvec": [ |
| 0.09081122829004291, |
| 0.030000000000002264, |
| 0.42294741448019024, |
| -1.6521493507563494, |
| 1.6521493507563494, |
| -0.8463781282659493 |
| ], |
| "downward_pitch_degrees": 35.74886115349685, |
| "selected_view": { |
| "saved_image": "display-left half of the upright 1280x480 stereo image", |
| "physical_eye": "left", |
| "torso_y_positive": true, |
| "eye_assignment_status": "inferred from sampled stereo parallax", |
| "evidence": "Stereo parallax inference from 18 frames in 3 episodes; 0.999625 of 2668 geometric matches have positive left-minus-right disparity. Assumes upright, unmirrored, approximately parallel cameras.", |
| "scope_limit": "Applies under upright, unmirrored, approximately parallel cameras; firmware/order changes across the entire corpus were not exhaustively audited." |
| }, |
| "constant_relative_to_torso": true, |
| "constant_in_world": false, |
| "calibrated": false, |
| "intrinsics_estimate": { |
| "native_hw": [ |
| 480, |
| 640 |
| ], |
| "fx": 243.2, |
| "fy": 243.2, |
| "cx": 320.0, |
| "cy": 240.0, |
| "distortion": "unknown", |
| "status": "simulation focal length/aperture estimate; not calibrated" |
| }, |
| "cad_dimensions": { |
| "status": "Dimensions measured from the provided CAD designs, not measurements of the installed hardware or optical entrance pupils.", |
| "values": { |
| "attachment_hole_spacing_mm": 88, |
| "cover_fastener_pattern_mm": [ |
| 85, |
| 28.2 |
| ], |
| "cover_lens_aperture_axis_spacing_mm": 60, |
| "lens_rim_ahead_of_pcb_seating_plane_mm": 20 |
| } |
| }, |
| "mounting_basis": "Owner-supplied bracket/cover CAD, stock G1 head mesh, mounting video and photograph; the final estimate moves the complete CAD candidate3mm rearward in torso X without changing rotation, height or lateral offset.", |
| "assumptions": [ |
| "Bracket symmetry is aligned to the robot sagittal plane; no mounting yaw, roll, or lateral shift.", |
| "The selected upper contact surfaces correspond to the physical mount. Exact receiving pockets and insertion depth are not modeled.", |
| "Lens centers approximately coincide with the cover aperture axes at the outer rims, per the owner. The optical entrance-pupil offset is unknown.", |
| "Physical-left inference from sampled stereo frames applies to the episodes using this mount; camera firmware/order changes are not exhaustively audited." |
| ], |
| "optical_origin_approximation": "Cover aperture axis at its outer front rim; actual lens near the rim per owner, entrance-pupil offset unknown.", |
| "uncertainty": "No calibrated numerical confidence interval. Gap observations constrain a nominal placement, not optical calibration; the optical entrance pupil and exact head receivers remain unknown. Lateral shell curvature leaves larger side clearances than the central clearance." |
| }, |
| "ftp_consumption": { |
| "camera_ego_pose": "Used as the reference camera; constant torso-relative values mask head-motion prediction.", |
| "left_wrist_pose": "Used for observed wrist state and future observed wrist targets.", |
| "right_wrist_pose": "Used for observed wrist state and future observed wrist targets.", |
| "explicit_aliases": "Three separate exact-value-copy arrays identify their standard source with alias_of=data/<standard>, alias_kind=exact_value_copy and oxt_compatibility_key. Stock FTP reads the retained standard fields, not these descriptive aliases.", |
| "torso_pose_to_robot_ground_frame": "Saved as a documented auxiliary pose; stock FTP does not automatically consume this field as an input or target." |
| }, |
| "motion_commands": "Original [vx,vy,yaw_rate] requests remain in provenance/source_streams/actions. They are control requests, not measured displacement or integrated odometry, and are not automatically consumed as FTP state/action targets. FTP uses future observed wrist configurations, not commanded EEF targets.", |
| "source_revision_limit": "The owner-provided release estimator explains the intended reference-frame construction. Exact collection-code revisions for every source episode are not recorded.", |
| "historical_evidence": [ |
| { |
| "document_identifier": "pose_fields_note.json", |
| "sha256": "5c80cecfb73f0ce41cb4749f565292c5e4befa29b232bdac697ac291606333f6", |
| "availability": "Historical full-evidence document; not an operational file dependency of this organizer handoff." |
| }, |
| { |
| "document_identifier": "camera_mounting_note.json", |
| "sha256": "32d2b5e480048fac5ac00cc4a1b818e8cdfbe2d41f1382583d531f232878c7c1", |
| "availability": "Historical full-evidence document; not an operational file dependency of this organizer handoff." |
| }, |
| { |
| "document_identifier": "torso_ground_frame_definition.json", |
| "sha256": "9598fec17d34df23ac292af4139a8e584a6c0a39869437b14290b5b5774e1e81", |
| "availability": "Historical full-evidence document; not an operational file dependency of this organizer handoff." |
| }, |
| { |
| "document_identifier": "photo_refinement_pose_estimate.json", |
| "sha256": "cfad46eaf530346817121805478d87a8c4918208b8a5663d923289a176be5fda", |
| "availability": "Historical full-evidence document; not an operational file dependency of this organizer handoff." |
| } |
| ] |
| } |
|
|
