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SimarKareer
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Mar 4, 2026
ryanthecreator
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SimarKareer
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Mar 8, 2026
| episode_feats = EvaHD5Extractor.process_episode( | ||
| episode_path=raw_path, | ||
| arm=arm, | ||
| extrinsics=extrinsics, |
Collaborator
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We no longer rely on extrinsics right?
Contributor
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Yes, I forgot to remove it.
| frames = [] | ||
| episode_feats = EvaHD5Extractor.process_episode( | ||
| episode_path, arm=arm, extrinsics=extrinsics, prestack=prestack | ||
| episode_path, arm=arm, extrinsics=extrinsics |
Collaborator
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still taking extrinsics?
| .float() | ||
| ) | ||
|
|
||
| if low_res: |
Collaborator
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If deleting this, then also delete the low_res arg
| ) | ||
| out[f"left.{base_key}"] = left_translation_quat | ||
| out[f"right.{base_key}"] = right_translation_quat | ||
| out["left.gripper"] = arr[:, 6:7] |
Collaborator
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Are we intentionally writing left.gripper both here and in the above if statement?
| _SPLIT_KEYS = {"obs_ee_pose", "cmd_ee_pose", "obs_joints", "cmd_joints"} | ||
|
|
||
| DATASET_KEY_MAPPINGS = { | ||
| "observations.state.eepose": "obs_ee_pose", |
Collaborator
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This says eepose, but in eva_utils the extractor it says ee_pose
episode_feats["observations"]["state.ee_pose"] = (
EvaHD5Extractor.get_ee_pose(
episode_feats["observations"]["state.joint_positions"],
arm,
left_extrinsics=left_extrinsics,
right_extrinsics=right_extrinsics,
no_rot=no_rot,
)
)
This seems like a pretty important bug?
SimarKareer
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ryanthecreator
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