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Stage removal of old inputs/human_hand

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  1. inputs/human_hand/README.md +0 -3
  2. inputs/human_hand/hangtowel/ep000002/calibration.json +0 -506
  3. inputs/human_hand/hangtowel/ep000002/calibration_fisheye.json +0 -386
  4. inputs/human_hand/hangtowel/ep000002/controls/action_57d_spec.json +0 -60
  5. inputs/human_hand/hangtowel/ep000002/controls/hand_camera_poses.npz +0 -3
  6. inputs/human_hand/hangtowel/ep000002/metadata.json +0 -45
  7. inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_left.png +0 -3
  8. inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_right.png +0 -3
  9. inputs/human_hand/hangtowel/ep000002/observations/fisheye/top_head.png +0 -3
  10. inputs/human_hand/hangtowel/ep000002/observations/hand_left.png +0 -3
  11. inputs/human_hand/hangtowel/ep000002/observations/hand_right.png +0 -3
  12. inputs/human_hand/hangtowel/ep000002/observations/head_stereo_left.png +0 -3
  13. inputs/human_hand/hangtowel/ep000002/observations/head_stereo_right.png +0 -3
  14. inputs/human_hand/hangtowel/ep000002/observations/top_head.png +0 -3
  15. inputs/human_hand/hangtowel/ep000002/pinhole_migration.json +0 -39
  16. inputs/human_hand/hangtowel/ep000002/source_map.json +0 -1878
  17. inputs/human_hand/hangtowel/ep000002/trajectory.parquet +0 -3
  18. inputs/human_hand/hangtowel/ep000007/calibration.json +0 -506
  19. inputs/human_hand/hangtowel/ep000007/calibration_fisheye.json +0 -386
  20. inputs/human_hand/hangtowel/ep000007/controls/action_57d_spec.json +0 -60
  21. inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz +0 -3
  22. inputs/human_hand/hangtowel/ep000007/metadata.json +0 -45
  23. inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_left.png +0 -3
  24. inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_right.png +0 -3
  25. inputs/human_hand/hangtowel/ep000007/observations/fisheye/top_head.png +0 -3
  26. inputs/human_hand/hangtowel/ep000007/observations/hand_left.png +0 -3
  27. inputs/human_hand/hangtowel/ep000007/observations/hand_right.png +0 -3
  28. inputs/human_hand/hangtowel/ep000007/observations/head_stereo_left.png +0 -3
  29. inputs/human_hand/hangtowel/ep000007/observations/head_stereo_right.png +0 -3
  30. inputs/human_hand/hangtowel/ep000007/observations/top_head.png +0 -3
  31. inputs/human_hand/hangtowel/ep000007/pinhole_migration.json +0 -39
  32. inputs/human_hand/hangtowel/ep000007/source_map.json +0 -1904
  33. inputs/human_hand/hangtowel/ep000007/trajectory.parquet +0 -3
  34. inputs/human_hand/hangtowel/ep000008/calibration.json +0 -506
  35. inputs/human_hand/hangtowel/ep000008/calibration_fisheye.json +0 -386
  36. inputs/human_hand/hangtowel/ep000008/controls/action_57d_spec.json +0 -60
  37. inputs/human_hand/hangtowel/ep000008/controls/hand_camera_poses.npz +0 -3
  38. inputs/human_hand/hangtowel/ep000008/metadata.json +0 -45
  39. inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_left.png +0 -3
  40. inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_right.png +0 -3
  41. inputs/human_hand/hangtowel/ep000008/observations/fisheye/top_head.png +0 -3
  42. inputs/human_hand/hangtowel/ep000008/observations/hand_left.png +0 -3
  43. inputs/human_hand/hangtowel/ep000008/observations/hand_right.png +0 -3
  44. inputs/human_hand/hangtowel/ep000008/observations/head_stereo_left.png +0 -3
  45. inputs/human_hand/hangtowel/ep000008/observations/head_stereo_right.png +0 -3
  46. inputs/human_hand/hangtowel/ep000008/observations/top_head.png +0 -3
  47. inputs/human_hand/hangtowel/ep000008/pinhole_migration.json +0 -39
  48. inputs/human_hand/hangtowel/ep000008/source_map.json +0 -1931
  49. inputs/human_hand/hangtowel/ep000008/trajectory.parquet +0 -3
  50. inputs/human_hand/hangtowel/ep000011/calibration.json +0 -506
inputs/human_hand/README.md DELETED
@@ -1,3 +0,0 @@
1
- # Ego-human ACWMBench inference dataset
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-
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- Canonical 15 FPS bimanual human-hand trajectories. The active `top_head`, `hand_left`, and `hand_right` observations are rectified 640x480 pinhole images (90 degree HFOV, 38 degree downward pitch). Original images and calibration are retained in `observations/fisheye/` and `calibration_fisheye.json`. Physical controls remain unchanged; read `calibration.json` for the source-to-virtual rotation.
 
 
 
 
inputs/human_hand/hangtowel/ep000002/calibration.json DELETED
@@ -1,506 +0,0 @@
1
- {
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- "schema_version": "acwmbench.ego.calibration.pinhole.v1",
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- "episode_index": 2,
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- "view_aliases": {
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- "top_head": "head_fisheye",
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- "hand_left": "head_fisheye_left",
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- "hand_right": "head_fisheye_right"
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- },
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- "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
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- "cameras": {
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- "top_head": {
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- "source_camera": "head_fisheye",
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- "camera_mount": "head",
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- "projection_model": "pinhole",
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- "Cx": 320.0,
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- "Cy": 240.0,
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- "width": 640,
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- "height": 480
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- "z": 0.0010914965841121059
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- },
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- "y": 0.014694437626401657,
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- "z": -0.028958392523767598
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- }
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- "extrinsic_head_fisheye_right_T_left": {
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- "rotation": {
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- "translation": {
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- "resolution": {
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- "width": 640,
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- "height": 480
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- },
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- "rectification": {
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- "source_projection_model": "opencv_fisheye",
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- "source_intrinsics": {
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- "Cx": 401.24334716796875,
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- "Cy": 299.5632019042969,
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- "Fx": 224.22935485839844,
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- "Fy": 224.09205627441406,
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- "height": 600,
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- "k1": 0.057993289083242416,
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- "k2": 0.01816844940185547,
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- "k3": -0.008063109591603279,
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- "k4": 0.0006919464212842286,
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- "width": 800
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- },
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- "source_to_virtual_rotation": [
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- [
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- ],
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- "hfov_deg": 90.0,
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- "view_pitch_deg": 38.0,
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- "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."
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- },
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- "extrinsics_reference_frame": "source_fisheye_camera"
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- },
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- "hand_left": {
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- "source_camera": "head_fisheye_left",
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- "camera_mount": "head",
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- "projection_model": "pinhole",
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- "intrinsics": {
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- "Fx": 320.00000000000006,
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- "resolution": {
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- "width": 640,
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- "height": 480
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- },
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- "rectification": {
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- "source_projection_model": "opencv_fisheye",
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- "view_pitch_deg": 38.0,
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- "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."
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- },
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- "extrinsics_reference_frame": "source_fisheye_camera"
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- },
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- "hand_right": {
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- "source_camera": "head_fisheye_right",
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- "Cy": 240.0,
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