diff --git a/inputs/human_hand/pourwater/ep000015/calibration.json b/inputs/human_hand/pourwater/ep000015/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..cf40a8088139210ef9e6f8b0bf49179e697bcc6a --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/calibration.json @@ -0,0 +1,506 @@ +{ + "schema_version": "acwmbench.ego.calibration.pinhole.v1", + "episode_index": 15, + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + }, + "head_stereo_right": { + "source_camera": "head_stereo_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "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": { + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + }, + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + }, + "intrinsic_head_fisheye": { + "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 + }, + "intrinsic_head_fisheye_left": { + "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 + }, + "intrinsic_head_fisheye_right": { + "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 + }, + "intrinsic_head_imu": { + "acc_n": 0.0005510443172649928, + "acc_w": 2.9547641343712726e-05, + "gyro_n": 0.0008512645105958214, + "gyro_w": 8.042016530226203e-06, + "timeshift_fisheye_cam_imu": 0.0032943932938084845 + }, + "intrinsic_head_stereo_left": { + "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 + }, + "intrinsic_head_stereo_right": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "suppiler_flag": { + "head_fisheye": "383100008901V01AA1VA069126071000489", + "head_fisheye_left": "382200016501V01AA1VA069126061402510", + "head_fisheye_right": "382200017101V01AA1VA069126061302311", + "head_stereo_left": "383100008901V01AA1VA069126071000489", + "head_stereo_right": "383100008901V01AA1VA069126071000489", + "suppiler": 0 + } + }, + "source_calibration_file": "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/pourwater/ep000015/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000015/calibration_fisheye.json new file mode 100644 index 0000000000000000000000000000000000000000..baf6227fccac2d5d9be41558f4c99e98dac1ad33 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/calibration_fisheye.json @@ -0,0 +1,386 @@ +{ + "schema_version": "acwmbench.ego.calibration.v1", + "episode_index": 15, + "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": -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": 800, + "height": 600 + } + }, + "hand_left": { + "source_camera": "head_fisheye_left", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "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 + }, + "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": 960, + "height": 600 + } + }, + "hand_right": { + "source_camera": "head_fisheye_right", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "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 + }, + "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": 960, + "height": 600 + } + }, + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + }, + "head_stereo_right": { + "source_camera": "head_stereo_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "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": { + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + }, + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + }, + "intrinsic_head_fisheye": { + "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 + }, + "intrinsic_head_fisheye_left": { + "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 + }, + "intrinsic_head_fisheye_right": { + "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 + }, + "intrinsic_head_imu": { + "acc_n": 0.0005510443172649928, + "acc_w": 2.9547641343712726e-05, + "gyro_n": 0.0008512645105958214, + "gyro_w": 8.042016530226203e-06, + "timeshift_fisheye_cam_imu": 0.0032943932938084845 + }, + "intrinsic_head_stereo_left": { + "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 + }, + "intrinsic_head_stereo_right": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "suppiler_flag": { + "head_fisheye": "383100008901V01AA1VA069126071000489", + "head_fisheye_left": "382200016501V01AA1VA069126061402510", + "head_fisheye_right": "382200017101V01AA1VA069126061302311", + "head_stereo_left": "383100008901V01AA1VA069126071000489", + "head_stereo_right": "383100008901V01AA1VA069126071000489", + "suppiler": 0 + } + } +} diff --git a/inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz new file mode 100644 index 0000000000000000000000000000000000000000..269ec13f5f0ccd8120c56c5554c7e23563320732 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7876a7565edaa4456aa9876a1ce91aaf8fc3326f52ee10eaa088a9c3ca74a747 +size 1795220 diff --git a/inputs/human_hand/pourwater/ep000015/metadata.json b/inputs/human_hand/pourwater/ep000015/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3c4c871a3d7c284b5e5bae9c5070ecc3f56627b4 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/metadata.json @@ -0,0 +1,44 @@ +{ + "schema_version": "worldoracle.human_hand.validation_input.v2", + "task_name": "pourwater", + "episode_index": 15, + "episode_name": "ep000015", + "fps": 15.0, + "num_frames": 1874, + "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. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false +} diff --git a/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..f21b60cb1e17a2dbc648e3d90b5d91306da2bcff --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f1348b5989b1a1613b9996cfac991077052177ddac19df79ae2213ed0bf1852 +size 715453 diff --git a/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..48f4d65da21b82ee05d7669708977fe3b22ad024 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a87b0d0e68ed39d060b9d49f8d7253a301d05c749770d5d097dc3a17db874a0 +size 851202 diff --git a/inputs/human_hand/pourwater/ep000015/observations/fisheye/top_head.png b/inputs/human_hand/pourwater/ep000015/observations/fisheye/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..85487a8aa36df79944710fd460a38ba5fbe76849 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/observations/fisheye/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a9bc7bc411ff5e16daa8cdceff954f05b006c048b6eb00f0e22b7b0d18d7fcf +size 694480 diff --git a/inputs/human_hand/pourwater/ep000015/observations/hand_left.png b/inputs/human_hand/pourwater/ep000015/observations/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..87d910f58a4b3343776654637d6e2891c6e04a56 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/observations/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5da6ba0b141c3a7b4259ad4e83c23fcef802193be87079c32c40385d2d6a910 +size 271026 diff --git a/inputs/human_hand/pourwater/ep000015/observations/hand_right.png b/inputs/human_hand/pourwater/ep000015/observations/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..16018b26813596b5a3d9f3e25a12543b29f99171 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/observations/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d92ac9faa6eeabc77bf490dd81dccfff7525ae13048114d16fcbea708dcb13f2 +size 334607 diff --git a/inputs/human_hand/pourwater/ep000015/observations/head_stereo_left.png b/inputs/human_hand/pourwater/ep000015/observations/head_stereo_left.png new file mode 100644 index 0000000000000000000000000000000000000000..e51091017ed6df898687c150d8ab3e4a39e86bb0 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/observations/head_stereo_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae7405a39cf927910dd47a2e7aad4ada4755b949e54c7a3f883cbf127d4b33ef +size 811138 diff --git a/inputs/human_hand/pourwater/ep000015/observations/head_stereo_right.png b/inputs/human_hand/pourwater/ep000015/observations/head_stereo_right.png new file mode 100644 index 0000000000000000000000000000000000000000..b41c72f162b9db5e36d871e5a86232ad9b3d67dd --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/observations/head_stereo_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbedb71a058f3c745bf03ad7a045cefd853aaecdf3b701fc840262d3ce4c96aa +size 798576 diff --git a/inputs/human_hand/pourwater/ep000015/observations/top_head.png b/inputs/human_hand/pourwater/ep000015/observations/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..aa050a4a532af8a6e08a5466de141fe52a6bdaa2 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000015/observations/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c89d9d66249262ed97f95f1be062e2366fbc1b2411832f1beb9ab730fc1cce34 +size 264843 diff --git a/inputs/human_hand/pourwater/ep000016/calibration.json b/inputs/human_hand/pourwater/ep000016/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..05ebb7a0f9b5baee9ab46d989488d10a024fda9b --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/calibration.json @@ -0,0 +1,506 @@ +{ + "schema_version": "acwmbench.ego.calibration.pinhole.v1", + "episode_index": 16, + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + }, + "head_stereo_right": { + "source_camera": "head_stereo_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "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": { + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + }, + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + }, + "intrinsic_head_fisheye": { + "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 + }, + "intrinsic_head_fisheye_left": { + "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 + }, + "intrinsic_head_fisheye_right": { + "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 + }, + "intrinsic_head_imu": { + "acc_n": 0.0005510443172649928, + "acc_w": 2.9547641343712726e-05, + "gyro_n": 0.0008512645105958214, + "gyro_w": 8.042016530226203e-06, + "timeshift_fisheye_cam_imu": 0.0032943932938084845 + }, + "intrinsic_head_stereo_left": { + "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 + }, + "intrinsic_head_stereo_right": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "suppiler_flag": { + "head_fisheye": "383100008901V01AA1VA069126071000489", + "head_fisheye_left": "382200016501V01AA1VA069126061402510", + "head_fisheye_right": "382200017101V01AA1VA069126061302311", + "head_stereo_left": "383100008901V01AA1VA069126071000489", + "head_stereo_right": "383100008901V01AA1VA069126071000489", + "suppiler": 0 + } + }, + "source_calibration_file": "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/pourwater/ep000016/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000016/calibration_fisheye.json new file mode 100644 index 0000000000000000000000000000000000000000..5552b4e4e470142a2cb1244a02ce8e97c172ddce --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/calibration_fisheye.json @@ -0,0 +1,386 @@ +{ + "schema_version": "acwmbench.ego.calibration.v1", + "episode_index": 16, + "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": -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": 800, + "height": 600 + } + }, + "hand_left": { + "source_camera": "head_fisheye_left", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "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 + }, + "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": 960, + "height": 600 + } + }, + "hand_right": { + "source_camera": "head_fisheye_right", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "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 + }, + "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": 960, + "height": 600 + } + }, + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + }, + "head_stereo_right": { + "source_camera": "head_stereo_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "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": { + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + }, + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + }, + "intrinsic_head_fisheye": { + "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 + }, + "intrinsic_head_fisheye_left": { + "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 + }, + "intrinsic_head_fisheye_right": { + "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 + }, + "intrinsic_head_imu": { + "acc_n": 0.0005510443172649928, + "acc_w": 2.9547641343712726e-05, + "gyro_n": 0.0008512645105958214, + "gyro_w": 8.042016530226203e-06, + "timeshift_fisheye_cam_imu": 0.0032943932938084845 + }, + "intrinsic_head_stereo_left": { + "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 + }, + "intrinsic_head_stereo_right": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "suppiler_flag": { + "head_fisheye": "383100008901V01AA1VA069126071000489", + "head_fisheye_left": "382200016501V01AA1VA069126061402510", + "head_fisheye_right": "382200017101V01AA1VA069126061302311", + "head_stereo_left": "383100008901V01AA1VA069126071000489", + "head_stereo_right": "383100008901V01AA1VA069126071000489", + "suppiler": 0 + } + } +} diff --git a/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz new file mode 100644 index 0000000000000000000000000000000000000000..4fea077d782430391d644d401d13e26cc75d6e9f --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45fbb72488f150cc5eb3a7ed5065c63542cf964d1e6b96eb8a5aa106ce09c455 +size 1834147 diff --git a/inputs/human_hand/pourwater/ep000016/metadata.json b/inputs/human_hand/pourwater/ep000016/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c98c1a2cc5bb64407e1e075da4f5ed35b30d6008 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/metadata.json @@ -0,0 +1,44 @@ +{ + "schema_version": "worldoracle.human_hand.validation_input.v2", + "task_name": "pourwater", + "episode_index": 16, + "episode_name": "ep000016", + "fps": 15.0, + "num_frames": 1909, + "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. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false +} diff --git a/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..27438e48c06e813c9aeac12a7d72b1d8e1e67b1f --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f621241acd843910e90c441cbf283b5e8d519c19e1c82367cd9bee80d011c0d1 +size 737422 diff --git a/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..b5102f59fdcf0695ea9972d0e42b7e77c6a42fea --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15a57608e8051ba0793412fb671c24c40708db577ef57c433de7b1e3f23a0a50 +size 839190 diff --git a/inputs/human_hand/pourwater/ep000016/observations/fisheye/top_head.png b/inputs/human_hand/pourwater/ep000016/observations/fisheye/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..f7a47e2c05b4d453467cb1a5f4f06c73d47fcd56 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/observations/fisheye/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbae5c1888e46f2a82f0ea6e161fccadd9b6888b54e871252a436807234ebdb3 +size 691808 diff --git a/inputs/human_hand/pourwater/ep000016/observations/hand_left.png b/inputs/human_hand/pourwater/ep000016/observations/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..1f49d260c9c680221b21d6410802912146ec04b5 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/observations/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f99cf83a82b8a2354ced62652874bd2a19cd07821d4e8176480f98eee54fca0 +size 281276 diff --git a/inputs/human_hand/pourwater/ep000016/observations/hand_right.png b/inputs/human_hand/pourwater/ep000016/observations/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..e96a3fcd776cbca25586327ebc4f26799d49585b --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/observations/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bee94f767e54b631816f3511b4bac5960c033f4ab53e8513416714af18c62e9 +size 355141 diff --git a/inputs/human_hand/pourwater/ep000016/observations/head_stereo_left.png b/inputs/human_hand/pourwater/ep000016/observations/head_stereo_left.png new file mode 100644 index 0000000000000000000000000000000000000000..df9de298666b1880a63134f9f93760cc5c4ce067 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/observations/head_stereo_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69f7254508a8cc4d8dd9ebce3dd70d18a4fe8ca426bd6726919aa3d042996c90 +size 825285 diff --git a/inputs/human_hand/pourwater/ep000016/observations/head_stereo_right.png b/inputs/human_hand/pourwater/ep000016/observations/head_stereo_right.png new file mode 100644 index 0000000000000000000000000000000000000000..4b988b501cc2699fcee6e3fd6c62b1f8d4f01484 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/observations/head_stereo_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55a6204d0a17b66051a9c87f6723cb172a734b6c43a1cdda7377263170b697f2 +size 818086 diff --git a/inputs/human_hand/pourwater/ep000016/observations/top_head.png b/inputs/human_hand/pourwater/ep000016/observations/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..0ecbf641feae7a6c022a21dc8369ae61f8bb8d0d --- /dev/null +++ b/inputs/human_hand/pourwater/ep000016/observations/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6836fad2a2900a077a24a2041dd217b6e941c3405c062f49071f2fb95f65f1bc +size 276947 diff --git a/inputs/human_hand/pourwater/ep000020/calibration.json b/inputs/human_hand/pourwater/ep000020/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..3acd121261cb19e80073ee3d2aecf0a19919767f --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/calibration.json @@ -0,0 +1,506 @@ +{ + "schema_version": "acwmbench.ego.calibration.pinhole.v1", + "episode_index": 20, + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + }, + "head_stereo_right": { + "source_camera": "head_stereo_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "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": { + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + }, + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + }, + "intrinsic_head_fisheye": { + "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 + }, + "intrinsic_head_fisheye_left": { + "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 + }, + "intrinsic_head_fisheye_right": { + "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 + }, + "intrinsic_head_imu": { + "acc_n": 0.0005510443172649928, + "acc_w": 2.9547641343712726e-05, + "gyro_n": 0.0008512645105958214, + "gyro_w": 8.042016530226203e-06, + "timeshift_fisheye_cam_imu": 0.0032943932938084845 + }, + "intrinsic_head_stereo_left": { + "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 + }, + "intrinsic_head_stereo_right": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "suppiler_flag": { + "head_fisheye": "383100008901V01AA1VA069126071000489", + "head_fisheye_left": "382200016501V01AA1VA069126061402510", + "head_fisheye_right": "382200017101V01AA1VA069126061302311", + "head_stereo_left": "383100008901V01AA1VA069126071000489", + "head_stereo_right": "383100008901V01AA1VA069126071000489", + "suppiler": 0 + } + }, + "source_calibration_file": "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/pourwater/ep000020/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000020/calibration_fisheye.json new file mode 100644 index 0000000000000000000000000000000000000000..29cba79aaa3fecbc917a32636741e8214e184ef0 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/calibration_fisheye.json @@ -0,0 +1,386 @@ +{ + "schema_version": "acwmbench.ego.calibration.v1", + "episode_index": 20, + "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": -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": 800, + "height": 600 + } + }, + "hand_left": { + "source_camera": "head_fisheye_left", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "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 + }, + "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": 960, + "height": 600 + } + }, + "hand_right": { + "source_camera": "head_fisheye_right", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "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 + }, + "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": 960, + "height": 600 + } + }, + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + }, + "head_stereo_right": { + "source_camera": "head_stereo_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "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": { + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + }, + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + }, + "intrinsic_head_fisheye": { + "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 + }, + "intrinsic_head_fisheye_left": { + "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 + }, + "intrinsic_head_fisheye_right": { + "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 + }, + "intrinsic_head_imu": { + "acc_n": 0.0005510443172649928, + "acc_w": 2.9547641343712726e-05, + "gyro_n": 0.0008512645105958214, + "gyro_w": 8.042016530226203e-06, + "timeshift_fisheye_cam_imu": 0.0032943932938084845 + }, + "intrinsic_head_stereo_left": { + "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 + }, + "intrinsic_head_stereo_right": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "suppiler_flag": { + "head_fisheye": "383100008901V01AA1VA069126071000489", + "head_fisheye_left": "382200016501V01AA1VA069126061402510", + "head_fisheye_right": "382200017101V01AA1VA069126061302311", + "head_stereo_left": "383100008901V01AA1VA069126071000489", + "head_stereo_right": "383100008901V01AA1VA069126071000489", + "suppiler": 0 + } + } +} diff --git a/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz new file mode 100644 index 0000000000000000000000000000000000000000..dec974e988a4662ce84a9a9abbbeb62ea6aaa96e --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87f2ca8b09dce4db25d32f9abf8adebc0b1c48662eac32bf6134f0f6503c83ba +size 1796299 diff --git a/inputs/human_hand/pourwater/ep000020/metadata.json b/inputs/human_hand/pourwater/ep000020/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..71d0ffd5e59ad9e77059c2674f150cc5e7b7d6db --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/metadata.json @@ -0,0 +1,44 @@ +{ + "schema_version": "worldoracle.human_hand.validation_input.v2", + "task_name": "pourwater", + "episode_index": 20, + "episode_name": "ep000020", + "fps": 15.0, + "num_frames": 1883, + "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. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false +} diff --git a/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..ec767240a94a9c25919620005d863c8eb85404cf --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7575683b121edb4d5f287699219cdee703b2926fdc47676acd43954f120b6e2 +size 853853 diff --git a/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..e60391a134cd7104286db41bf3cad5320204205c --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19b4aa2464851c04271941b3f90189a5a00b4e6bd7f9e845e8ea3651cda7084e +size 845782 diff --git a/inputs/human_hand/pourwater/ep000020/observations/fisheye/top_head.png b/inputs/human_hand/pourwater/ep000020/observations/fisheye/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..58b42bcf45a026d77cfcbba0663cd94894749644 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/observations/fisheye/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a0b3a0a4c57b7ce74aaf8aff4b3f92ee53937bdc92a3cdcceeb0bb6f3e19429 +size 801196 diff --git a/inputs/human_hand/pourwater/ep000020/observations/hand_left.png b/inputs/human_hand/pourwater/ep000020/observations/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..744ed4bc24008fd0f1280cd84a4aca840af64853 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/observations/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72c9f9b7a211f3968f9b9cbcc3da828518240622f915cb196629c5d400012b29 +size 338900 diff --git a/inputs/human_hand/pourwater/ep000020/observations/hand_right.png b/inputs/human_hand/pourwater/ep000020/observations/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..da77d4761962fe35a1ce93fec1b2ce1f9f2e4629 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/observations/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c310b9f8091ab2ac48964f17a353762657b7b851abad53ea1581ec8169106ba +size 390428 diff --git a/inputs/human_hand/pourwater/ep000020/observations/head_stereo_left.png b/inputs/human_hand/pourwater/ep000020/observations/head_stereo_left.png new file mode 100644 index 0000000000000000000000000000000000000000..69c0b2a8ab735b652aa2737f764b546a88d9f0aa --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/observations/head_stereo_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5f1fafb44c2d65d6b0a53507173cb2866a99a11ff9a9d7f8862398d327e2826 +size 976448 diff --git a/inputs/human_hand/pourwater/ep000020/observations/head_stereo_right.png b/inputs/human_hand/pourwater/ep000020/observations/head_stereo_right.png new file mode 100644 index 0000000000000000000000000000000000000000..70332bbb34d1410c9d8ada9f250d33bb7cf6661e --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/observations/head_stereo_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f767cec9cb1e8813403d316f48c6027d71f58507dc77d8f3ed4aed54bd3df7e6 +size 969998 diff --git a/inputs/human_hand/pourwater/ep000020/observations/top_head.png b/inputs/human_hand/pourwater/ep000020/observations/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..3ee652ee4851bc6c7d6a7e3cc0a3acdd14e95577 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000020/observations/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1600637f7c6a4a084401653f1faa61cc3f4cbb1ea8edfda823f7057d9c2f21d +size 330028 diff --git a/inputs/human_hand/pourwater/ep000021/calibration.json b/inputs/human_hand/pourwater/ep000021/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..22412b45cb42c8d088433b81d05b8e5d75268f0c --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/calibration.json @@ -0,0 +1,506 @@ +{ + "schema_version": "acwmbench.ego.calibration.pinhole.v1", + "episode_index": 21, + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + }, + "head_stereo_right": { + "source_camera": "head_stereo_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "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": { + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + }, + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + }, + "intrinsic_head_fisheye": { + "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 + }, + "intrinsic_head_fisheye_left": { + "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 + }, + "intrinsic_head_fisheye_right": { + "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 + }, + "intrinsic_head_imu": { + "acc_n": 0.0005510443172649928, + "acc_w": 2.9547641343712726e-05, + "gyro_n": 0.0008512645105958214, + "gyro_w": 8.042016530226203e-06, + "timeshift_fisheye_cam_imu": 0.0032943932938084845 + }, + "intrinsic_head_stereo_left": { + "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 + }, + "intrinsic_head_stereo_right": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "suppiler_flag": { + "head_fisheye": "383100008901V01AA1VA069126071000489", + "head_fisheye_left": "382200016501V01AA1VA069126061402510", + "head_fisheye_right": "382200017101V01AA1VA069126061302311", + "head_stereo_left": "383100008901V01AA1VA069126071000489", + "head_stereo_right": "383100008901V01AA1VA069126071000489", + "suppiler": 0 + } + }, + "source_calibration_file": "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/pourwater/ep000021/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000021/calibration_fisheye.json new file mode 100644 index 0000000000000000000000000000000000000000..64ee60e0ed6611ce9b996d486bc5f858d2807e41 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/calibration_fisheye.json @@ -0,0 +1,386 @@ +{ + "schema_version": "acwmbench.ego.calibration.v1", + "episode_index": 21, + "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": -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": 800, + "height": 600 + } + }, + "hand_left": { + "source_camera": "head_fisheye_left", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "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 + }, + "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": 960, + "height": 600 + } + }, + "hand_right": { + "source_camera": "head_fisheye_right", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "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 + }, + "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": 960, + "height": 600 + } + }, + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + }, + "head_stereo_right": { + "source_camera": "head_stereo_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "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": { + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + }, + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + }, + "intrinsic_head_fisheye": { + "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 + }, + "intrinsic_head_fisheye_left": { + "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 + }, + "intrinsic_head_fisheye_right": { + "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 + }, + "intrinsic_head_imu": { + "acc_n": 0.0005510443172649928, + "acc_w": 2.9547641343712726e-05, + "gyro_n": 0.0008512645105958214, + "gyro_w": 8.042016530226203e-06, + "timeshift_fisheye_cam_imu": 0.0032943932938084845 + }, + "intrinsic_head_stereo_left": { + "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 + }, + "intrinsic_head_stereo_right": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "suppiler_flag": { + "head_fisheye": "383100008901V01AA1VA069126071000489", + "head_fisheye_left": "382200016501V01AA1VA069126061402510", + "head_fisheye_right": "382200017101V01AA1VA069126061302311", + "head_stereo_left": "383100008901V01AA1VA069126071000489", + "head_stereo_right": "383100008901V01AA1VA069126071000489", + "suppiler": 0 + } + } +} diff --git a/inputs/human_hand/pourwater/ep000021/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000021/controls/hand_camera_poses.npz new file mode 100644 index 0000000000000000000000000000000000000000..9c9fcef15d99c12da2f97f8890cee450a0d08b7e --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/controls/hand_camera_poses.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21b6665bb176772aa0cf535544562f5d85917e224761a58b6b3191700d4320cb +size 1785980 diff --git a/inputs/human_hand/pourwater/ep000021/metadata.json b/inputs/human_hand/pourwater/ep000021/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..72e56998f4136098009b93f26db44c38a20ef66c --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/metadata.json @@ -0,0 +1,44 @@ +{ + "schema_version": "worldoracle.human_hand.validation_input.v2", + "task_name": "pourwater", + "episode_index": 21, + "episode_name": "ep000021", + "fps": 15.0, + "num_frames": 1876, + "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. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false +} diff --git a/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..19f93423adfe11d2ca3a0a68ad7af727fa651e9a --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c34cf954a32235c48951fc2ea0886422176b3191dec1f3075f090d11a9bd523 +size 827996 diff --git a/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..34b5af6d7e46aca0c150048e801ca3c9ca3859ab --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53bb5a40736234e118f91efeeb9cf707b5925fc93f45b9fa97dec58765fd5174 +size 848926 diff --git a/inputs/human_hand/pourwater/ep000021/observations/fisheye/top_head.png b/inputs/human_hand/pourwater/ep000021/observations/fisheye/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..be57669c27729e97a53257cff85ad9fff057fb8e --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/observations/fisheye/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86c680930f8ee0ba3f7abbf78fd1da70c5b3574fec1ba6e0be0127e627d3e38d +size 780985 diff --git a/inputs/human_hand/pourwater/ep000021/observations/hand_left.png b/inputs/human_hand/pourwater/ep000021/observations/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..d203279d1a5ca74ebe30a61fc99d93693db81b84 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/observations/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:963e5aac494dcf808685350a4f5dfe5399c8358ca7ab636c84d074334c2790ae +size 326903 diff --git a/inputs/human_hand/pourwater/ep000021/observations/hand_right.png b/inputs/human_hand/pourwater/ep000021/observations/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..2505b998cd1adb5632c43420ab47c9ac523cd367 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/observations/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c87107acaecb4a70b66838462a48ec74a41db4177719e2a40e7134b4ebd89225 +size 372815 diff --git a/inputs/human_hand/pourwater/ep000021/observations/head_stereo_left.png b/inputs/human_hand/pourwater/ep000021/observations/head_stereo_left.png new file mode 100644 index 0000000000000000000000000000000000000000..8f0902dc404278fc7e3f12451f4e6f418f49fd0c --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/observations/head_stereo_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f1d03307fee8a6b5f2289364e6214d5e6f3aac806e2ee844203494f95d83d4a +size 944557 diff --git a/inputs/human_hand/pourwater/ep000021/observations/head_stereo_right.png b/inputs/human_hand/pourwater/ep000021/observations/head_stereo_right.png new file mode 100644 index 0000000000000000000000000000000000000000..b97724cb1e03cb3e38c48e6b19176b8f3e2553a3 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/observations/head_stereo_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57e0d846cabc00e2a963f2883c560248c119fc3aec4e55a9b8d433267be1b99c +size 939287 diff --git a/inputs/human_hand/pourwater/ep000021/observations/top_head.png b/inputs/human_hand/pourwater/ep000021/observations/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..279bc565b596d037945c71b42650676feee4fd0f --- /dev/null +++ b/inputs/human_hand/pourwater/ep000021/observations/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cdbad4a02612558968a75d33aa7a42a7824c01282511808b2a7efcba34fcf88 +size 307927 diff --git a/inputs/human_hand/pourwater/ep000022/calibration.json b/inputs/human_hand/pourwater/ep000022/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..81df536f49df7d85f4b23450114dc72d86bdb1dd --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/calibration.json @@ -0,0 +1,506 @@ +{ + "schema_version": "acwmbench.ego.calibration.pinhole.v1", + "episode_index": 22, + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + }, + "head_stereo_right": { + "source_camera": "head_stereo_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "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": { + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + }, + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + }, + "intrinsic_head_fisheye": { + "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 + }, + "intrinsic_head_fisheye_left": { + "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 + }, + "intrinsic_head_fisheye_right": { + "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 + }, + "intrinsic_head_imu": { + "acc_n": 0.0005510443172649928, + "acc_w": 2.9547641343712726e-05, + "gyro_n": 0.0008512645105958214, + "gyro_w": 8.042016530226203e-06, + "timeshift_fisheye_cam_imu": 0.0032943932938084845 + }, + "intrinsic_head_stereo_left": { + "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 + }, + "intrinsic_head_stereo_right": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "suppiler_flag": { + "head_fisheye": "383100008901V01AA1VA069126071000489", + "head_fisheye_left": "382200016501V01AA1VA069126061402510", + "head_fisheye_right": "382200017101V01AA1VA069126061302311", + "head_stereo_left": "383100008901V01AA1VA069126071000489", + "head_stereo_right": "383100008901V01AA1VA069126071000489", + "suppiler": 0 + } + }, + "source_calibration_file": "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/pourwater/ep000022/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000022/calibration_fisheye.json new file mode 100644 index 0000000000000000000000000000000000000000..3ac467fdb87f2cbfc1de843f3570fe3cd7270e13 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/calibration_fisheye.json @@ -0,0 +1,386 @@ +{ + "schema_version": "acwmbench.ego.calibration.v1", + "episode_index": 22, + "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": -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": 800, + "height": 600 + } + }, + "hand_left": { + "source_camera": "head_fisheye_left", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "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 + }, + "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": 960, + "height": 600 + } + }, + "hand_right": { + "source_camera": "head_fisheye_right", + "camera_mount": "head", + "projection_model": "opencv_fisheye", + "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 + }, + "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": 960, + "height": 600 + } + }, + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + }, + "head_stereo_right": { + "source_camera": "head_stereo_right", + "camera_mount": "head", + "projection_model": "pinhole", + "intrinsics": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "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": { + "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": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + }, + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + }, + "intrinsic_head_fisheye": { + "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 + }, + "intrinsic_head_fisheye_left": { + "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 + }, + "intrinsic_head_fisheye_right": { + "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 + }, + "intrinsic_head_imu": { + "acc_n": 0.0005510443172649928, + "acc_w": 2.9547641343712726e-05, + "gyro_n": 0.0008512645105958214, + "gyro_w": 8.042016530226203e-06, + "timeshift_fisheye_cam_imu": 0.0032943932938084845 + }, + "intrinsic_head_stereo_left": { + "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 + }, + "intrinsic_head_stereo_right": { + "Cx": 480.90869140625, + "Cy": 300.6904602050781, + "Fx": 300.04974365234375, + "Fy": 299.9335632324219, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "suppiler_flag": { + "head_fisheye": "383100008901V01AA1VA069126071000489", + "head_fisheye_left": "382200016501V01AA1VA069126061402510", + "head_fisheye_right": "382200017101V01AA1VA069126061302311", + "head_stereo_left": "383100008901V01AA1VA069126071000489", + "head_stereo_right": "383100008901V01AA1VA069126071000489", + "suppiler": 0 + } + } +} diff --git a/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz new file mode 100644 index 0000000000000000000000000000000000000000..12ef6eaf5b93c1f45c33d884fdb6885e45b349e5 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eed655c0220af480020049b65425c90039e216666584b6dff2dd62b37421ad6 +size 1766726 diff --git a/inputs/human_hand/pourwater/ep000022/metadata.json b/inputs/human_hand/pourwater/ep000022/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bf9e8aa7e120518a612c419790423ff8562772c2 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/metadata.json @@ -0,0 +1,44 @@ +{ + "schema_version": "worldoracle.human_hand.validation_input.v2", + "task_name": "pourwater", + "episode_index": 22, + "episode_name": "ep000022", + "fps": 15.0, + "num_frames": 1852, + "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. The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false +} diff --git a/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..45f06a8441a653d0313221bd03082bdc021a037f --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebf4870bd6f737745e7cc5889988dec05c07ba7bb1445c52e69bb2608a9fd710 +size 689308 diff --git a/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..987fb5461eb7dc1839d1109cefb75c038c47c6ca --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70498c491450b98f67ec8982b45ba94fe0851da74ab856aad3f064fe312b9a29 +size 807862 diff --git a/inputs/human_hand/pourwater/ep000022/observations/fisheye/top_head.png b/inputs/human_hand/pourwater/ep000022/observations/fisheye/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..014de6da7e8691c0fca138c900bb4db130eeaf13 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/observations/fisheye/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:accd881ca10e188dc048efa88b9f7a2c7095794404400fada1827600647aa295 +size 679733 diff --git a/inputs/human_hand/pourwater/ep000022/observations/hand_left.png b/inputs/human_hand/pourwater/ep000022/observations/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..0ede54025dda4a7ddac5459877e50c297e6b5e63 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/observations/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01baa16e2e6dfbe7346c50ffe0ba6c0c449b76ae71c7ef0900b904ba51bb41d7 +size 247157 diff --git a/inputs/human_hand/pourwater/ep000022/observations/hand_right.png b/inputs/human_hand/pourwater/ep000022/observations/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..ee47df19a0163059bc7b5e3d39faba00d53901a4 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/observations/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1e483d6d79638d065711e149b5ee3af602decdbeb59f685cc1b91e53ca0b532 +size 291933 diff --git a/inputs/human_hand/pourwater/ep000022/observations/head_stereo_left.png b/inputs/human_hand/pourwater/ep000022/observations/head_stereo_left.png new file mode 100644 index 0000000000000000000000000000000000000000..195f4774eb64e6b66828d3be1d7aef40e23d3815 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/observations/head_stereo_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1db05d9222f32994a4d5ad1d9e3870d2c6db701f8884821fca868485fe8c860 +size 790697 diff --git a/inputs/human_hand/pourwater/ep000022/observations/head_stereo_right.png b/inputs/human_hand/pourwater/ep000022/observations/head_stereo_right.png new file mode 100644 index 0000000000000000000000000000000000000000..9bec038f8b64010836b07085b9a1be4acc67ecb7 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/observations/head_stereo_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0e22eedd5617630410a7bb0049f136b1dfe98a6af334008b98fb185e832751a +size 797584 diff --git a/inputs/human_hand/pourwater/ep000022/observations/top_head.png b/inputs/human_hand/pourwater/ep000022/observations/top_head.png new file mode 100644 index 0000000000000000000000000000000000000000..58b0a6fd8a5e16aa12808c01c5b0ddd2cdbf2219 --- /dev/null +++ b/inputs/human_hand/pourwater/ep000022/observations/top_head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78f7f2c18fd2ba1e2febac1c3c5165df59cd563032cb965bcc2bd6f133fe4e7b +size 226361 diff --git a/inputs/human_hand/pourwater/schema.json b/inputs/human_hand/pourwater/schema.json new file mode 100644 index 0000000000000000000000000000000000000000..d1c952c77a4228c2f9b6cecc6868f915ca887904 --- /dev/null +++ b/inputs/human_hand/pourwater/schema.json @@ -0,0 +1,25 @@ +{ + "schema_version": "worldoracle.human_hand.absolute_pose.v1", + "embodiment": "ego_human_bimanual", + "fps": 15.0, + "contains_delta_action": false, + "initial_observations": { + "description": "Frame 0 input images for the released camera views." + }, + "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" + } + }, + "task": "pourwater" +}