Depth + object_pose: refresh tasks.json, README, loader

README.md

@@ -49,11 +49,22 @@ data/<task>/
 |---|---|---|
 | `frame_idx` | int | 0…T-1, matches MP4 frame index |
 | `timestamp` | float64 | camera clock (s) |
-| `sensor_left_pose`, `sensor_right_pose` | list[7] | OptiTrack world pose (xyz + quat wxyz) |
+| `sensor_left_pose`, `sensor_right_pose` | list[7] | OptiTrack world pose of each GelSight (xyz + quat wxyz) |
+| `object_pose` | list[7] | OptiTrack world pose of the manipulated object (NaN where the object body was not tracked — e.g. all pushT) |
 | `tactile_{L,R}_{intensity,area,mixed}` | float32 | contact metrics (computed at full 640×480) |
 | `source_h5_frame` | int | index into the original recording |
 
-**Decoded frames are RGB** (standard decoder convention) for all five streams.
+**Decoded frames are RGB** (standard decoder convention) for all five RGB streams.
+
+### depth (optional, `data/<task>/depth/`)
+Per-camera depth is shipped as **lossless FFV1 16-bit video** (`gray16le`):
+```
+data/<task>/depth/<date>/episode_NNN/depth_{left,middle,right}.mkv
+```
+- uint16, **millimeters**; `0` = no return / invalid.
+- Frame `i` aligns to the RGB video frame `i` and parquet row `i`.
+- Decode with PyAV (`frame.to_ndarray()` → `(480, 640)` uint16). cv2 cannot read 16-bit video.
+- Load via `ReactVideoDataset(..., load_depth=True)`.
 
 ## Tasks
 

examples/react_video_dataset.py

@@ -46,18 +46,21 @@ except Exception:
 VIEW_STREAMS = ("view_left", "view_middle", "view_right")
 TACTILE_STREAMS = ("tactile_left", "tactile_right")
 ALL_STREAMS = VIEW_STREAMS + TACTILE_STREAMS
+DEPTH_STREAMS = ("depth_left", "depth_middle", "depth_right")   # optional, uint16 mm
 
 
-def _decode_frames(mp4_path: Path, frame_indices):
-    """Return (N, H, W, 3) uint8 RGB for the requested frame indices."""
+def _decode_frames(mp4_path: Path, frame_indices, depth=False):
+    """Return (N, H, W, 3) uint8 RGB, or (N, H, W) uint16 mm if depth=True."""
     want = list(frame_indices)
-    if _BACKEND == "av":
+    fmt = None if depth else "rgb24"     # depth: native gray16le ndarray
+    if _BACKEND == "av" or depth:        # depth requires PyAV (16-bit)
         container = av.open(str(mp4_path))
         stream = container.streams.video[0]
         out, wantset, got = {}, set(want), 0
         for fi, frame in enumerate(container.decode(stream)):
             if fi in wantset:
-                out[fi] = frame.to_ndarray(format="rgb24")
+                a = frame.to_ndarray(format=fmt) if fmt else frame.to_ndarray()
+                out[fi] = a
                 got += 1
                 if got == len(wantset):
                     break
@@ -77,7 +80,7 @@ def _decode_frames(mp4_path: Path, frame_indices):
 class ReactVideoDataset:
     def __init__(self, task_root, window_length=16, stride=1, window_step=None,
                  mode="segment", streams=ALL_STREAMS, skip_bad=True,
-                 which_sensors="any"):
+                 which_sensors="any", load_depth=False):
         self.root = Path(task_root)
         self.W = window_length
         self.stride = stride
@@ -86,6 +89,8 @@ class ReactVideoDataset:
         self.streams = tuple(streams)
         self.skip_bad = skip_bad
         self.which = which_sensors
+        # depth only if requested AND present on disk for this task
+        self.load_depth = load_depth and (self.root / "depth").is_dir()
 
         self.segments = json.loads((self.root / "segments.json").read_text())["segments"]
         self.bad = json.loads((self.root / "bad_frames.json").read_text())["episodes"]
@@ -141,13 +146,20 @@ class ReactVideoDataset:
         idx = list(range(start, start + (self.W - 1) * self.stride + 1, self.stride))
         vd = self._video_dir(ek)
         out = {s: _decode_frames(vd / f"{s}.mp4", idx) for s in self.streams}
+        if self.load_depth:
+            date, ep = ek.split("/")
+            dd = self.root / "depth" / date / ep
+            for s in DEPTH_STREAMS:
+                p = dd / f"{s}.mkv"
+                if p.exists():
+                    out[s] = _decode_frames(p, idx, depth=True)   # (T,H,W) uint16 mm
         tbl = pq.read_table(self._parquet(ek)).slice(start, idx[-1] - start + 1)
         # subsample by stride
         rows = [r - start for r in idx]
-        pl = np.array(tbl.column("sensor_left_pose").to_pylist(), np.float32)[rows]
-        pr = np.array(tbl.column("sensor_right_pose").to_pylist(), np.float32)[rows]
-        out["sensor_left_pose"] = pl
-        out["sensor_right_pose"] = pr
+        for c in ("sensor_left_pose", "sensor_right_pose"):
+            out[c] = np.array(tbl.column(c).to_pylist(), np.float32)[rows]
+        if "object_pose" in tbl.column_names:
+            out["object_pose"] = np.array(tbl.column("object_pose").to_pylist(), np.float32)[rows]
         for c in ("tactile_left_intensity", "tactile_right_intensity",
                   "tactile_left_mixed", "tactile_right_mixed"):
             out[c] = np.array(tbl.column(c).to_pylist(), np.float32)[rows]

tasks.json

@@ -1,6 +1,6 @@
 {
   "dataset": "React",
-  "format": "video (LeRobot-style: per-camera MP4 + per-episode parquet)",
+  "format": "video (LeRobot-style: per-camera MP4 + per-episode parquet; depth as FFV1 16-bit MKV)",
   "resolution": "640x480",
   "fps": 30,
   "video_streams": [
@@ -10,15 +10,21 @@
     "tactile_left",
     "tactile_right"
   ],
+  "depth_streams": [
+    "depth_left",
+    "depth_middle",
+    "depth_right"
+  ],
   "parquet_columns": [
     "frame_idx",
     "timestamp",
     "sensor_left_pose",
     "sensor_right_pose",
+    "object_pose",
     "tactile_{L,R}_{intensity,area,mixed}",
     "source_h5_frame"
   ],
-  "decoded_color": "RGB (standard video-decoder convention)",
+  "decoded_color": "RGB",
   "tasks": {
     "motherboard": {
       "n_episodes": 32,
@@ -39,15 +45,12 @@
       "calibration_id": "may-12",
       "calibration_created": "2026-05-12",
       "calibration_rmse_unit": "mm",
-      "world_frame_offset_dates": {
-        "2026-05-19": [
-          0.23,
-          0.0,
-          0.175
-        ]
-      },
+      "object_tracked_episodes": 32,
+      "depth_available_episodes": 32,
+      "depth_units": "mm",
+      "depth_invalid_value": 0,
       "gelsight_left_serial": "2BGLKZNT/2DUPB53G",
-      "note": "Bimanual handheld tactile-visual interaction. 05-19 has a redefined OptiTrack world origin; an offset (0.23,0,0.175)m is baked into its poses so all dates share one frame."
+      "note": "Bimanual handheld tactile-visual interaction. Object pose (the board) tracked. 05-19 has a redefined OptiTrack world origin; offset (0.23,0,0.175)m baked into poses."
     },
     "pushT": {
       "n_episodes": 4,
@@ -66,9 +69,12 @@
       "calibration_id": "june-26",
       "calibration_created": "2026-06-26",
       "calibration_rmse_unit": "px",
-      "world_frame_offset_dates": {},
+      "object_tracked_episodes": 0,
+      "depth_available_episodes": 4,
+      "depth_units": "mm",
+      "depth_invalid_value": 0,
       "gelsight_left_serial": "2DUPB53G",
-      "note": "Push-T manipulation. Recalibrated cameras (June-26). One source H5 (episode_004) was corrupt and excluded."
+      "note": "Push-T manipulation. Recalibrated cameras (June-26). Object rigid body was not tracked (object_pose = NaN). episode_004 source H5 corrupt, excluded."
     }
   }
 }