Data Structure

{task}
|
|-{episode}
|           |- ego.mp4: egocentric video, 1280x360, binocular
|           |- exo.mp4: exocentric video, 640x360, monocular
|           |- session_meta.json: episode metadata 
|           |- state_action.hdf5
|                            |- action
|                            |        |- body_quat_w: root rotation quaternion, in wxyz order, normalized with the yaw of first frame
|                            |        |- joint_pos: upper body joint pos by ik from hand pose
|                            |        |- left_grip: left hand grip of pico controller
|                            |        |- left_hand_joints: left hand joints, calculated from left_trigger
|                            |        |- left_trigger: left hand trigger of pico controller
|                            |        |- right_grip: right hand grip of pico controller
|                            |        |- right_hand_joints: right hand joints, calculated from right_trigger
|                            |        |- right_trigger: right hand trigger of pico controller
|                            |        |- smpl_joints: smpl joints xyz
|                            |        |- smpl_pose: smpl joints pose
|                            |        |- timestamp_realtime
|                            |
|                            |- sonic: state, latent info collected from sonic controller
|                            |
|                            |- state
|                                     |- inspire_left_state: joints pos of left hand
|                                     |- inspire_right_state: joints pos of right hand
|                                     |- rt_lowstate: [0:29]: g1 joints pos, [29:33]: g1 pelvis imu quat in wxyz order, [33: 36]: g1 pelvis imu accel, [36:]: g1 pelvis imu gyro
|
|- depth.tar.zst: exocentric depth image, 640x360, 16bit png