File size: 6,259 Bytes
a199a9b |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 |
# Copyright (c) Meta Platforms, Inc. and affiliates.
# All rights reserved.
#
# This source code is licensed under the license found in the
# LICENSE file in the root directory of this source tree.
import json
from dataclasses import dataclass, fields
from enum import Enum
"""
Each sequence folder follows the following structure.
Files might be missing if not downloaded.
├── LICENSE
├── metadata.json
├── body
│ ├── xdata_blueman.glb
│ ├── xdata.healthcheck
│ ├── xdata.mvnx
│ └── xdata.npz
├── narration
│ ├── activity_summarization.csv
│ ├── atomic_action.csv
│ └── motion_narration.csv
├── recording_head / recording_observer
│ ├── data
│ │ ├── data.vrs
│ │ ├── et.vrs
│ │ └── motion.vrs
│ └── mps
│ ├── eye_gaze
│ │ ├── general_eye_gaze.csv
│ │ └── personalized_eye_gaze.csv
│ └── slam
│ ├── closed_loop_trajectory.csv
│ ├── online_calibration.jsonl
│ ├── open_loop_trajectory.csv
│ ├── semidense_observations.csv.gz
│ ├── semidense_points.csv.gz
│ └── summary.json
└── recording_rwrist / recording_lwrist
├── data
│ ├── data.vrs
│ └── motion.vrs
└── mps
└── slam
├── closed_loop_trajectory.csv
├── online_calibration.jsonl
├── open_loop_trajectory.csv
├── semidense_observations.csv.gz
├── semidense_points.csv.gz
└── summary.json
"""
NYMERIA_VERSION: str = "v0.0"
@dataclass(frozen=True)
class MetaFiles:
license: str = "LICENSE"
metadata_json: str = "metadata.json"
@dataclass(frozen=True)
class Subpaths(MetaFiles):
body: str = "body"
text: str = "narration"
recording_head: str = "recording_head"
recording_lwrist: str = "recording_lwrist"
recording_rwrist: str = "recording_rwrist"
recording_observer: str = "recording_observer"
vrs: str = "data"
mps: str = "mps"
mps_slam: str = "mps/slam"
mps_gaze: str = "mps/eye_gaze"
@dataclass(frozen=True)
class BodyFiles:
xsens_processed: str = f"{Subpaths.body}/xdata.npz"
xsens_raw: str = f"{Subpaths.body}/xdata.mvnx"
momentum_model: str = f"{Subpaths.body}/xdata_blueman.glb"
@dataclass(frozen=True)
class TextFiles:
motion_narration: str = f"{Subpaths.text}/motion_narration.csv"
atomic_action: str = f"{Subpaths.text}/atomic_action.csv"
activity_summarization: str = f"{Subpaths.text}/activity_summarization.csv"
@dataclass(frozen=True)
class VrsFiles:
data: str = f"{Subpaths.vrs}/data.vrs"
motion: str = f"{Subpaths.vrs}/motion.vrs"
et: str = f"{Subpaths.vrs}/et.vrs"
@dataclass(frozen=True)
class SlamFiles:
closed_loop_trajectory: str = f"{Subpaths.mps_slam}/closed_loop_trajectory.csv"
online_calibration: str = f"{Subpaths.mps_slam}/online_calibration.jsonl"
open_loop_trajectory: str = f"{Subpaths.mps_slam}/open_loop_trajectory.csv"
semidense_points: str = f"{Subpaths.mps_slam}/semidense_points.csv.gz"
semidense_observations: str = f"{Subpaths.mps_slam}/semidense_observations.csv.gz"
location_summary: str = f"{Subpaths.mps_slam}/summary.json"
@dataclass(frozen=True)
class GazeFiles:
general_gaze: str = f"{Subpaths.mps_gaze}/general_eye_gaze.csv"
personalized_gaze: str = f"{Subpaths.mps_gaze}/personalized_eye_gaze.csv"
class DataGroups(Enum):
"""
\brief Each variable defines one atomic downloadable element
"""
LICENSE = Subpaths.license
metadata_json = Subpaths.metadata_json
body = Subpaths.body
recording_head = Subpaths.recording_head
recording_head_data_data_vrs = f"{Subpaths.recording_head}/{VrsFiles.data}"
recording_lwrist = Subpaths.recording_lwrist
recording_rwrist = Subpaths.recording_rwrist
recording_observer = Subpaths.recording_observer
recording_observer_data_data_vrs = f"{Subpaths.recording_observer}/{VrsFiles.data}"
narration_motion_narration_csv = TextFiles.motion_narration
narration_atomic_action_csv = TextFiles.atomic_action
narration_activity_summarization_csv = TextFiles.activity_summarization
semidense_observations = "semidense_observations"
def get_group_definitions() -> dict[str, list]:
"""
\brief Definition of DataGroups
File paths are relative with respect to each sequence folder.
Some sequences might missing certain files/data groups
due to errors occured from data collection or processing.
There is one url per data group per sequence.
Data groups with multiple files are packed into zip files.
"""
AriaFiles = (
[f.default for f in fields(VrsFiles) if "data" not in f.name]
+ [f.default for f in fields(SlamFiles) if "observations" not in f.name]
+ [f.default for f in fields(GazeFiles)]
)
miniAriaFiles = [f.default for f in fields(VrsFiles) if "et" not in f.name] + [
f.default for f in fields(SlamFiles) if "observerations" not in f.name
]
g_defs = {x.name: [x.value] for x in DataGroups}
g_defs[DataGroups.body.name] = [x.default for x in fields(BodyFiles)]
for x in [DataGroups.recording_head, DataGroups.recording_observer]:
g_defs[x.name] = [f"{x.name}/{f}" for f in AriaFiles]
for x in [DataGroups.recording_rwrist, DataGroups.recording_lwrist]:
g_defs[x.name] = [f"{x.name}/{f}" for f in miniAriaFiles]
g_defs[DataGroups.semidense_observations.name] = []
for x in fields(Subpaths):
if "recording" in x.name:
g_defs[DataGroups.semidense_observations.name].append(
f"{x.default}/{SlamFiles.semidense_observations}"
)
print("=== group definitions (group_name: [group_files]) ===")
print(json.dumps(g_defs, indent=2))
return g_defs
# get_group_definitions()
|