droid/scripts/check_wrist_camera_params.py

"""
Check what wrist camera parameters are available in DROID observations.
"""

import sys
from pathlib import Path
sys.path.append(str(Path(__file__).parent.parent))

import numpy as np
import tensorflow as tf
tf.config.set_visible_devices([], 'GPU')
import tensorflow_datasets as tfds

droid_path = '/mnt/kevin/data/droid/droid/1.0.0'
builder = tfds.builder_from_directory(droid_path)
dataset = builder.as_dataset(split='train')

episode = next(iter(dataset))
step = next(iter(episode['steps']))

print("=" * 80)
print("DROID Observation Keys:")
print("=" * 80)
obs = step['observation']
for key in sorted(obs.keys()):
    try:
        value = obs[key].numpy()
        print(f"{key:30s}: shape={value.shape}, dtype={value.dtype}")
        if 'cam' in key.lower() or 'extrinsic' in key.lower() or 'intrinsic' in key.lower():
            print(f"  Value: {value}")
    except:
        print(f"{key:30s}: (unable to get)")

print("\n" + "=" * 80)
print("Checking all steps for wrist camera extrinsics:")
print("=" * 80)

count = 0
for step in episode['steps']:
    if count >= 5:
        break
    obs = step['observation']
    if 'wrist_cam_extrinsics' in obs:
        wrist_ext = obs['wrist_cam_extrinsics'].numpy()
        print(f"Step {count}: wrist_cam_extrinsics = {wrist_ext}")
    count += 1

print("\n" + "=" * 80)
print("Looking for intrinsics:")
print("=" * 80)
obs = step['observation']
for key in obs.keys():
    if 'intrinsic' in key.lower():
        value = obs[key].numpy()
        print(f"{key}: {value}")