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feat: add LightWheel embodiment #381

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feat: add LightWheel embodiment #381

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33 changes: 33 additions & 0 deletions egomimic/rldb/embodiment/human.py
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,14 @@
[[_fx, 0.0, _cx, 0], [0.0, _fy, _cy, 0], [0.0, 0.0, 1.0, 0]], dtype=np.float64
)

LIGHTWHEEL_INTRINSICS = np.array(
[
[786.6216072, 0.0, 960.0, 0],
[0.0, 786.6216072, 728.0, 0],
[0.0, 0.0, 1.0, 0],
]
)

ARIA_T_RGB_CPF = np.array(
[
[-0.99989084, 0.01251132, -0.00786028, 0.05686918],
Expand Down Expand Up @@ -356,6 +364,31 @@ def _get_keymap(
},
}

class LightWheel(Human):
INTRINSICS = LIGHTWHEEL_INTRINSICS
EXTRINSICS = None
ACTION_STRIDE = 3

@classmethod
def get_transform_list(
cls,
mode: Literal["cartesian",
"keypoints_headframe_ypr",
"keypoints_headframe_quat",
"keypoints_wristframe_ypr",
"keypoints_wristframe_quat"],
) -> list[Transform]:
if mode == "cartesian":
return Aria.get_transform_list(mode="cartesian")

@classmethod
def _get_keymap(
cls,
keymap_mode: Literal["cartesian", "keypoints"],
):
return Aria._get_keymap(keymap_mode=keymap_mode)


class Scale(Human):
INTRINSICS = SCALE_INTRINSICS
EXTRINSICS = None
Expand Down
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