| { |
| "schema_version": "acwmbench.inference.ego.v1", |
| "task_name": "pulldrawer", |
| "episode_index": 0, |
| "episode_name": "ep000000", |
| "fps": 15.0, |
| "num_frames": 1867, |
| "num_transitions": 1866, |
| "seed_local_index": 0, |
| "embodiment": "ego_human_bimanual", |
| "files": { |
| "trajectory": "trajectory.parquet", |
| "calibration": "calibration.json", |
| "source_map": "source_map.json", |
| "observations": { |
| "top_head": "observations/top_head.png", |
| "hand_left": "observations/hand_left.png", |
| "hand_right": "observations/hand_right.png", |
| "head_stereo_left": "observations/head_stereo_left.png", |
| "head_stereo_right": "observations/head_stereo_right.png" |
| }, |
| "controls": { |
| "hand_camera_poses": "controls/hand_camera_poses.npz", |
| "action_57d_spec": "controls/action_57d_spec.json" |
| }, |
| "fisheye_calibration": "calibration_fisheye.json", |
| "fisheye_observations": { |
| "top_head": "observations/fisheye/top_head.png", |
| "hand_left": "observations/fisheye/hand_left.png", |
| "hand_right": "observations/fisheye/hand_right.png" |
| } |
| }, |
| "active_projection": { |
| "views": [ |
| "top_head", |
| "hand_left", |
| "hand_right" |
| ], |
| "model": "pinhole", |
| "width": 640, |
| "height": 480, |
| "hfov_deg": 90.0, |
| "view_pitch_deg": 38.0 |
| } |
| } |
|
|
