videohandactioncomputemapper
September 8, 2026 · View on GitHub
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 |
|---|---|---|---|
hand_reconstruction_field | <class 'str'> | 'hand_reconstruction_hawor_tags' | Meta field storing HaWoR hand reconstruction results. |
camera_pose_field | <class 'str'> | 'video_camera_pose_tags' | Meta field storing camera pose (cam_c2w) results. |
tag_field_name | <class 'str'> | 'hand_action_tags' | Output field name in Fields.meta. |
hand_type | <class 'str'> | 'both' | Which hand to compute actions for. 'right', 'left', or 'both'. Default is 'both'. |
args | `` | ||
kwargs | `` |