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train_set/stack_bowls__episode_43/TCP/third_person/metadata.json

@@ -0,0 +1,49 @@
+{
+  "shape": [
+    247,
+    2,
+    7
+  ],
+  "pose_shape": [
+    247,
+    2,
+    4,
+    4
+  ],
+  "arm_order": [
+    "left",
+    "right"
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "coordinate_frame": "OpenCV camera (+x right, +y down, +z forward)",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "pose_convention": "T_camera_tcp; maps TCP coordinates into OpenCV camera",
+  "tcp_definition_id": "aloha_fixed_fingertip_center_v1",
+  "tcp_definition": "fixed midpoint of area centroids of closed inner fingertip contact faces; orientation equals link6",
+  "tcp_reference_links": [
+    "fl_link6",
+    "fr_link6"
+  ],
+  "tcp_offsets_in_link6_m": [
+    [
+      1.16277768659896e-13,
+      6.932020992986642e-11,
+      0.1348330098977198
+    ],
+    [
+      1.1622225750856133e-13,
+      6.932032102161884e-11,
+      0.13483300989771985
+    ]
+  ]
+}

train_set/stack_bowls__episode_43/depths_completed/metadata.json

@@ -0,0 +1,57 @@
+{
+  "units": "millimeters",
+  "dtype": "uint16",
+  "invalid_value": 0,
+  "depth_type": "distance_to_image_plane",
+  "frame_alignment": "index",
+  "cameras": {
+    "third_person": {
+      "width": 320,
+      "height": 240,
+      "frames": 247
+    }
+  },
+  "source_frame_count": 247,
+  "intrinsics_yaml": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/G_106.yaml",
+  "processing": {
+    "version": 1,
+    "source_episode": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/stack_bowls__episode_43",
+    "model": "robbyant/lingbot-depth-pretrain-vitl-14-v0.5",
+    "mode": "completion_only",
+    "resolution_level": 9,
+    "apply_mask": false,
+    "depth_scale": 1000.0,
+    "width": 320,
+    "height": 240,
+    "intrinsics_pixels": [
+      [
+        244.977,
+        0.0,
+        161.4385
+      ],
+      [
+        0.0,
+        244.977,
+        106.9735
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+      [
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+        0.0,
+        1.0
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+    ],
+    "removed_padding_left_top": [
+      1.0,
+      6.0
+    ]
+  },
+  "pending_frames": [],
+  "last_run": {
+    "status": "finished",
+    "selected_frames": 247,
+    "written": 247,
+    "skipped": 0,
+    "device": "cuda",
+    "precision": "bfloat16"
+  }
+}

train_set/stack_bowls__episode_43/depths_completed/postprocess_metadata.json

@@ -0,0 +1,13 @@
+{
+  "operation": "depth_edge_and_border_mask",
+  "version": 1,
+  "edge_threshold_mm": 50.0,
+  "border_pixels": 4,
+  "connectivity": 8,
+  "ignore_invalid_neighbors": true,
+  "source_dir": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/stack_bowls__episode_43/depths_completed/third_person",
+  "output_dir": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/stack_bowls__episode_43/depths_completed/third_person",
+  "selected_frames": 247,
+  "processed_frames": 247,
+  "status": "finished"
+}