diff --git a/inputs/human_hand/pulldrawer/ep000010/calibration.json b/inputs/human_hand/pulldrawer/ep000010/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..3f8953532c17c3b7d8b7d30f8419365f0685fb70 --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000010/calibration.json @@ -0,0 +1,506 @@ +{ + "schema_version": "acwmbench.ego.calibration.pinhole.v1", + "episode_index": 10, + "view_aliases": { + "top_head": "head_fisheye", + "hand_left": "head_fisheye_left", + "hand_right": "head_fisheye_right" + }, + "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.", + "cameras": { + "top_head": { + "source_camera": "head_fisheye", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_T_left": { + "rotation": { + "x": 0.0009442228132370642, + "y": 0.0002965523734030786, + "z": 2.7778272304765542e-05, + "w": 0.9999995098640481 + }, + "translation": { + "x": 0.03061258879177004, + "y": -0.00044053462609449333, + "z": 0.0010914965841121059 + } + }, + "extrinsic_head_fisheye_left_T_left": { + "rotation": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "y": 0.014694437626401657, + "z": -0.028958392523767598 + } + }, + "extrinsic_head_fisheye_right_T_left": { + "rotation": { + "x": 0.0003976459684297884, + "y": 0.42641808299703304, + "z": 0.20065156149051988, + "w": 0.8819900289925252 + }, + "translation": { + "x": 0.11023896172779998, + "y": 0.013827394575498546, + "z": -0.02812516971803584 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 401.24334716796875, + "Cy": 299.5632019042969, + "Fx": 224.22935485839844, + "Fy": 224.09205627441406, + "height": 600, + "k1": 0.057993289083242416, + "k2": 0.01816844940185547, + "k3": -0.008063109591603279, + "k4": 0.0006919464212842286, + "width": 800 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "hand_left": { + "source_camera": "head_fisheye_left", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_left_T_left": { + "rotation": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "y": 0.014694437626401657, + "z": -0.028958392523767598 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 479.4472961425781, + "Cy": 299.9506530761719, + "Fx": 223.04345703125, + "Fy": 223.11749267578125, + "height": 600, + "k1": 0.06008125841617584, + "k2": 0.015944620594382286, + "k3": -0.006167862098664045, + "k4": 0.00022500510385725647, + "width": 960 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "hand_right": { + "source_camera": "head_fisheye_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_right_T_left": { + "rotation": { + "x": 0.0003976459684297884, + "y": 0.42641808299703304, + "z": 0.20065156149051988, + "w": 0.8819900289925252 + }, + "translation": { + "x": 0.11023896172779998, + "y": 0.013827394575498546, + "z": -0.02812516971803584 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 480.4215393066406, + "Cy": 299.4262390136719, + "Fx": 223.5740509033203, + "Fy": 223.46319580078125, + "height": 600, + "k1": 0.05835850164294243, + "k2": 0.017698010429739952, + "k3": -0.007227227091789246, + "k4": 0.0004160731041338295, + "width": 960 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "head_stereo_left": { + "source_camera": "head_stereo_left", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 481.39990234375, + "Cy": 298.59674072265625, + "Fx": 300.0994873046875, + "Fy": 300.0945129394531, + "height": 600, + "k1": 0.23313209414482117, + "k2": -0.013054169714450836, + "k3": -0.02656524069607258, + "k4": 0.008368264883756638, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_left_T_imu": { + "rotation": { + "x": 0.999970395486808, + "y": -0.005711054071957077, + "z": -0.0016198635801491547, + "w": -0.004895717855982548 + }, + "translation": { + "x": 0.004417393018733836, + "y": -0.0042354069095445705, + "z": -0.017029698432489374 + } + }, + "extrinsic_head_stereo_left_T_right": { + "rotation": { + "x": -0.0014040695076892229, + "y": 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{ + "calibration": "calibration.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" + }, + "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 + }, + "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/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_left.png b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..315f11116be8689bd41edea304df3d0319ffc42c --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b07e387b20a4343c406a87d8bee4223062ae30d29537c7fcd1120e7df776493 +size 769790 diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_right.png b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..5df7a788bbe702b96c57212240a2ac94d23fb122 --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8903e44b9f6ff89acff5ed7da8e6a3fa77ab935269ef0fa67fd198362fb339c7 +size 878597 diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/top_head.png b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..9e0e5d2357edd27972da78c12884184d0eef0e18 --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:191b073c3249d308bc3f1ab72da2ee01f4605eac759d8d0d551ac735329a1285 +size 829544 diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/hand_left.png b/inputs/human_hand/pulldrawer/ep000010/observations/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..b78d4500e01726c9808ad3ba699c1439b4c17d37 --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000010/observations/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79837ad593e9a5e7575e41116668d4a49273dec624b6f64192a0f470771cb29d +size 320073 diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/hand_right.png b/inputs/human_hand/pulldrawer/ep000010/observations/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..4dfe8be518bc949dddd279b8362c77226a01ca32 --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000010/observations/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:245b0f214201f38514283a29a27faa6638f794d359f2fefc7a4db016c14564ed +size 364146 diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_left.png b/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_left.png new file mode 100644 index 0000000000000000000000000000000000000000..d16eae03c5010f3712dc6c43e3fcf5f3325b8cf0 --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5954d5556bbd9516e151ae8ddcf3b6fc729c1721a398f1c82da687ed201a8339 +size 964518 diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_right.png b/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_right.png new file mode 100644 index 0000000000000000000000000000000000000000..50b7d160925e155bfce72732ed3e762b8522aa85 --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bef9b57c3756bbc93c788744945502819ae95462669f12554050a36d2ee9bf94 +size 964892 diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/top_head.png b/inputs/human_hand/pulldrawer/ep000010/observations/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..dd31d3d958f96abbaf262924eb99d0649ba28c7c --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000010/observations/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d650be489c271287b587bff6a2ae4da2dd138648123b1c80aceab2c21cccafb +size 323360 diff --git a/inputs/human_hand/pulldrawer/ep000017/calibration.json b/inputs/human_hand/pulldrawer/ep000017/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..b61af542bee5b3c09c83ac1bc7955de65e86a832 --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000017/calibration.json @@ -0,0 +1,506 @@ +{ + "schema_version": "acwmbench.ego.calibration.pinhole.v1", + "episode_index": 17, + "view_aliases": { + "top_head": "head_fisheye", + "hand_left": "head_fisheye_left", + "hand_right": "head_fisheye_right" + }, + "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.", + "cameras": { + "top_head": { + "source_camera": "head_fisheye", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_T_left": { + "rotation": { + "x": 0.0009442228132370642, + "y": 0.0002965523734030786, + "z": 2.7778272304765542e-05, + "w": 0.9999995098640481 + }, + "translation": { + "x": 0.03061258879177004, + "y": -0.00044053462609449333, + "z": 0.0010914965841121059 + } + }, + "extrinsic_head_fisheye_left_T_left": { + "rotation": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "y": 0.014694437626401657, + "z": -0.028958392523767598 + } + }, + "extrinsic_head_fisheye_right_T_left": { + "rotation": { + "x": 0.0003976459684297884, + "y": 0.42641808299703304, + "z": 0.20065156149051988, + "w": 0.8819900289925252 + }, + "translation": { + "x": 0.11023896172779998, + "y": 0.013827394575498546, + "z": -0.02812516971803584 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 401.24334716796875, + "Cy": 299.5632019042969, + "Fx": 224.22935485839844, + "Fy": 224.09205627441406, + "height": 600, + "k1": 0.057993289083242416, + "k2": 0.01816844940185547, + "k3": -0.008063109591603279, + "k4": 0.0006919464212842286, + "width": 800 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "hand_left": { + "source_camera": "head_fisheye_left", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_left_T_left": { + "rotation": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "y": 0.014694437626401657, + "z": -0.028958392523767598 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 479.4472961425781, + "Cy": 299.9506530761719, + "Fx": 223.04345703125, + "Fy": 223.11749267578125, + "height": 600, + "k1": 0.06008125841617584, + "k2": 0.015944620594382286, + "k3": -0.006167862098664045, + "k4": 0.00022500510385725647, + "width": 960 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "hand_right": { + "source_camera": "head_fisheye_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_right_T_left": { + "rotation": { + "x": 0.0003976459684297884, + "y": 0.42641808299703304, + "z": 0.20065156149051988, + "w": 0.8819900289925252 + }, + "translation": { + "x": 0.11023896172779998, + "y": 0.013827394575498546, + "z": -0.02812516971803584 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 480.4215393066406, + "Cy": 299.4262390136719, + "Fx": 223.5740509033203, + "Fy": 223.46319580078125, + "height": 600, + "k1": 0.05835850164294243, + "k2": 0.017698010429739952, + "k3": -0.007227227091789246, + "k4": 0.0004160731041338295, + "width": 960 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "head_stereo_left": { + "source_camera": "head_stereo_left", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 481.39990234375, + "Cy": 298.59674072265625, + "Fx": 300.0994873046875, + "Fy": 300.0945129394531, + "height": 600, + "k1": 0.23313209414482117, + "k2": -0.013054169714450836, + "k3": -0.02656524069607258, + "k4": 0.008368264883756638, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_left_T_imu": { + "rotation": { + "x": 0.999970395486808, + "y": -0.005711054071957077, + "z": -0.0016198635801491547, + "w": -0.004895717855982548 + }, + "translation": { + "x": 0.004417393018733836, + "y": -0.0042354069095445705, + "z": -0.017029698432489374 + } + }, + "extrinsic_head_stereo_left_T_right": { + "rotation": { + "x": -0.0014040695076892229, + "y": 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"calibration_fisheye.json", + "active_views": { + "top_head": { + "projection_model": "pinhole", + "width": 640, + "height": 480, + "hfov_deg": 90.0, + "view_pitch_deg": 38.0 + }, + "hand_left": { + "projection_model": "pinhole", + "width": 640, + "height": 480, + "hfov_deg": 90.0, + "view_pitch_deg": 38.0 + }, + "hand_right": { + "projection_model": "pinhole", + "width": 640, + "height": 480, + "hfov_deg": 90.0, + "view_pitch_deg": 38.0 + } + } +} diff --git a/inputs/human_hand/pulldrawer/ep000017/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000017/calibration_fisheye.json new file mode 100644 index 0000000000000000000000000000000000000000..7e8b94c14d2e22539b057fd219195a56b5fe5dbb --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000017/calibration_fisheye.json @@ -0,0 +1,386 @@ +{ + "schema_version": "acwmbench.ego.calibration.v1", + "episode_index": 17, + "view_aliases": { + "top_head": "head_fisheye", + "hand_left": "head_fisheye_left", + "hand_right": "head_fisheye_right" + }, + "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.", + "cameras": { + "top_head": { + "source_camera": "head_fisheye", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "intrinsics": { + "Cx": 401.24334716796875, + "Cy": 299.5632019042969, + "Fx": 224.22935485839844, + "Fy": 224.09205627441406, + "height": 600, + "k1": 0.057993289083242416, + "k2": 0.01816844940185547, + "k3": -0.008063109591603279, + "k4": 0.0006919464212842286, + "width": 800 + }, + "extrinsics": { + "extrinsic_head_fisheye_T_left": { + "rotation": { + "x": 0.0009442228132370642, + "y": 0.0002965523734030786, + "z": 2.7778272304765542e-05, + "w": 0.9999995098640481 + }, + "translation": { + "x": 0.03061258879177004, + "y": -0.00044053462609449333, + "z": 0.0010914965841121059 + } + }, + "extrinsic_head_fisheye_left_T_left": { + "rotation": { + "x": 0.00363868679823883, + "y": 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b/inputs/human_hand/pulldrawer/ep000017/controls/hand_camera_poses.npz new file mode 100644 index 0000000000000000000000000000000000000000..94db024df85db8dfbcd8163a56eb8f8d51c2f07b --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000017/controls/hand_camera_poses.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07e4f9d2e4a93c0e874ef7ba36da561f6f4e60cba65bd835e426d93a33e72a30 +size 1759900 diff --git a/inputs/human_hand/pulldrawer/ep000017/metadata.json b/inputs/human_hand/pulldrawer/ep000017/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fa29c3788df9c07407b98de813d070783ca9f734 --- /dev/null +++ b/inputs/human_hand/pulldrawer/ep000017/metadata.json @@ -0,0 +1,44 @@ +{ + "schema_version": "worldoracle.human_hand.validation_input.v2", + "task_name": "pulldrawer", + "episode_index": 17, + "episode_name": "ep000017", + "fps": 15.0, + "num_frames": 1849, + "seed_local_index": 0, + "embodiment": "ego_human_bimanual", + "files": { + "calibration": "calibration.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" + }, + "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 + }, + "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. 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they are not wrist cameras.", + "cameras": { + "top_head": { + "source_camera": "head_fisheye", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_T_left": { + "rotation": { + "x": 0.0009442228132370642, + "y": 0.0002965523734030786, + "z": 2.7778272304765542e-05, + "w": 0.9999995098640481 + }, + "translation": { + "x": 0.03061258879177004, + "y": -0.00044053462609449333, + "z": 0.0010914965841121059 + } + }, + "extrinsic_head_fisheye_left_T_left": { + "rotation": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "y": 0.014694437626401657, + "z": -0.028958392523767598 + } + }, + "extrinsic_head_fisheye_right_T_left": { + "rotation": { + "x": 0.0003976459684297884, + "y": 0.42641808299703304, + "z": 0.20065156149051988, + "w": 0.8819900289925252 + }, + "translation": { + "x": 0.11023896172779998, + "y": 0.013827394575498546, + "z": -0.02812516971803584 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 401.24334716796875, + "Cy": 299.5632019042969, + "Fx": 224.22935485839844, + "Fy": 224.09205627441406, + "height": 600, + "k1": 0.057993289083242416, + "k2": 0.01816844940185547, + "k3": -0.008063109591603279, + "k4": 0.0006919464212842286, + "width": 800 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. 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Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "hand_right": { + "source_camera": "head_fisheye_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_right_T_left": { + "rotation": { + "x": 0.0003976459684297884, + "y": 0.42641808299703304, + "z": 0.20065156149051988, + "w": 0.8819900289925252 + }, + "translation": { + "x": 0.11023896172779998, + "y": 0.013827394575498546, + "z": -0.02812516971803584 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 480.4215393066406, + "Cy": 299.4262390136719, + "Fx": 223.5740509033203, + "Fy": 223.46319580078125, + "height": 600, + "k1": 0.05835850164294243, + "k2": 0.017698010429739952, + "k3": -0.007227227091789246, + "k4": 0.0004160731041338295, + "width": 960 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "head_stereo_left": { + "source_camera": "head_stereo_left", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 481.39990234375, + "Cy": 298.59674072265625, + "Fx": 300.0994873046875, + "Fy": 300.0945129394531, + "height": 600, + "k1": 0.23313209414482117, + "k2": -0.013054169714450836, + "k3": -0.02656524069607258, + "k4": 0.008368264883756638, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_left_T_imu": { + "rotation": { + "x": 0.999970395486808, + "y": -0.005711054071957077, + "z": -0.0016198635801491547, + "w": -0.004895717855982548 + }, + "translation": { + "x": 0.004417393018733836, + "y": -0.0042354069095445705, + "z": -0.017029698432489374 + } + }, + "extrinsic_head_stereo_left_T_right": { + "rotation": { + "x": -0.0014040695076892229, + "y": 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they are not wrist cameras.", + "cameras": { + "top_head": { + "source_camera": "head_fisheye", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_T_left": { + "rotation": { + "x": 0.0009442228132370642, + "y": 0.0002965523734030786, + "z": 2.7778272304765542e-05, + "w": 0.9999995098640481 + }, + "translation": { + "x": 0.03061258879177004, + "y": -0.00044053462609449333, + "z": 0.0010914965841121059 + } + }, + "extrinsic_head_fisheye_left_T_left": { + "rotation": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "y": 0.014694437626401657, + "z": -0.028958392523767598 + } + }, + "extrinsic_head_fisheye_right_T_left": { + "rotation": { + "x": 0.0003976459684297884, + "y": 0.42641808299703304, + "z": 0.20065156149051988, + "w": 0.8819900289925252 + }, + "translation": { + "x": 0.11023896172779998, + "y": 0.013827394575498546, + "z": -0.02812516971803584 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 401.24334716796875, + "Cy": 299.5632019042969, + "Fx": 224.22935485839844, + "Fy": 224.09205627441406, + "height": 600, + "k1": 0.057993289083242416, + "k2": 0.01816844940185547, + "k3": -0.008063109591603279, + "k4": 0.0006919464212842286, + "width": 800 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "hand_left": { + "source_camera": "head_fisheye_left", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_left_T_left": { + "rotation": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "y": 0.014694437626401657, + "z": -0.028958392523767598 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 479.4472961425781, + "Cy": 299.9506530761719, + "Fx": 223.04345703125, + "Fy": 223.11749267578125, + "height": 600, + "k1": 0.06008125841617584, + "k2": 0.015944620594382286, + "k3": -0.006167862098664045, + "k4": 0.00022500510385725647, + "width": 960 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "hand_right": { + "source_camera": "head_fisheye_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Fx": 320.00000000000006, + "Fy": 320.00000000000006, + "Cx": 320.0, + "Cy": 240.0, + "width": 640, + "height": 480 + }, + "extrinsics": { + "extrinsic_head_fisheye_right_T_left": { + "rotation": { + "x": 0.0003976459684297884, + "y": 0.42641808299703304, + "z": 0.20065156149051988, + "w": 0.8819900289925252 + }, + "translation": { + "x": 0.11023896172779998, + "y": 0.013827394575498546, + "z": -0.02812516971803584 + } + } + }, + "resolution": { + "width": 640, + "height": 480 + }, + "rectification": { + "source_projection_model": "opencv_fisheye", + "source_intrinsics": { + "Cx": 480.4215393066406, + "Cy": 299.4262390136719, + "Fx": 223.5740509033203, + "Fy": 223.46319580078125, + "height": 600, + "k1": 0.05835850164294243, + "k2": 0.017698010429739952, + "k3": -0.007227227091789246, + "k4": 0.0004160731041338295, + "width": 960 + }, + "source_to_virtual_rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.7880107536067219, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." + }, + "extrinsics_reference_frame": "source_fisheye_camera" + }, + "head_stereo_left": { + "source_camera": "head_stereo_left", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 481.39990234375, + "Cy": 298.59674072265625, + "Fx": 300.0994873046875, + "Fy": 300.0945129394531, + "height": 600, + "k1": 0.23313209414482117, + "k2": -0.013054169714450836, + "k3": -0.02656524069607258, + "k4": 0.008368264883756638, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_left_T_imu": { + "rotation": { + "x": 0.999970395486808, + "y": -0.005711054071957077, + "z": -0.0016198635801491547, + "w": -0.004895717855982548 + }, + "translation": { + "x": 0.004417393018733836, + "y": -0.0042354069095445705, + "z": -0.017029698432489374 + } + }, + "extrinsic_head_stereo_left_T_right": { + "rotation": { + "x": -0.0014040695076892229, + "y": 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"resolution": { + "width": 960, + "height": 600 + } + } + }, + "source_calibration": { + "extrinsic_head_fisheye_T_left": { + "rotation": { + "x": 0.0009442228132370642, + "y": 0.0002965523734030786, + "z": 2.7778272304765542e-05, + "w": 0.9999995098640481 + }, + "translation": { + "x": 0.03061258879177004, + "y": -0.00044053462609449333, + "z": 0.0010914965841121059 + } + }, + "extrinsic_head_fisheye_left_T_left": { + "rotation": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "y": 0.014694437626401657, + "z": -0.028958392523767598 + } + }, + "extrinsic_head_fisheye_right_T_left": { + "rotation": { + "x": 0.0003976459684297884, + "y": 0.42641808299703304, + "z": 0.20065156149051988, + "w": 0.8819900289925252 + }, + "translation": { + "x": 0.11023896172779998, + "y": 0.013827394575498546, + "z": -0.02812516971803584 + } + }, + "extrinsic_head_stereo_left_T_imu": { + 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