video_hand_action_compute_mapper¶
Compute 7-DoF actions and 8-dim states from hand reconstruction and camera pose results.
Reads hand MANO parameters (from VideoHandReconstructionHaworMapper) and camera-to-world transforms (from VideoCameraPoseMegaSaMMapper), then produces per-frame state [x,y,z,roll,pitch,yaw,pad,gripper] and per-frame action [dx,dy,dz,droll,dpitch,dyaw,gripper] compatible with LIBERO / StarVLA LeRobot format.
根据手部重建和相机位姿结果计算 7 自由度动作和 8 维状态。
读取手部 MANO 参数（来自 VideoHandReconstructionHaworMapper）和相机到世界的变换（来自 VideoCameraPoseMegaSaMMapper），然后生成与 LIBERO / StarVLA LeRobot 格式兼容的逐帧状态 [x,y,z,roll,pitch,yaw,pad,gripper] 和逐帧动作 [dx,dy,dz,droll,dpitch,dyaw,gripper]。
Type 算子类型: mapper
Tags 标签: cpu, video
🔧 Parameter Configuration 参数配置¶
name 参数名 |
type 类型 |
default 默认值 |
desc 说明 |
|---|---|---|---|
|
<class ‘str’> |
|
Meta field storing HaWoR hand reconstruction results. |
|
<class ‘str’> |
|
Meta field storing camera pose (cam_c2w) results. |
|
<class ‘str’> |
|
Output field name in Fields.meta. |
|
<class ‘str’> |
|
Which hand to compute actions for. ‘right’, ‘left’, or ‘both’. Default is ‘both’. |
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