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RoboMIND2.0-processed

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RoboMIND2.0-processed / eef /models.json
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anshks
Complete verified EEF companion release with explicit action semantics and reader
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{
"schema_version": 1,
"position_units": "metres",
"quaternion_order": "xyzw",
"endpoint_contract": "Rigid terminal-arm attachment independent of finger articulation; no universal gripper-centre TCP",
"per_episode_frame_names": "base_frames and endpoints in each companion JSON",
"camera_geometry": "Existing per-view camera metadata remains separate. Reprojection is not certified across all episodes.",
"Franka": {
"base_frames": [
"left:panda_link0",
"right:panda_link0"
],
"endpoints": [
"left:panda_link8",
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"source": "https://github.com/Open-X-Humanoid/RoboMIND-dataset-utils/blob/77d7b311cbf2f16624c941f46b2a75042858ff06/eepose/urdf/franka/panda.urdf",
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"source": "https://www.universal-robots.com/developer/hardware-and-motion/robot-motion-dh-parameters/",
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"command_review_episode_ids": [
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},
"AgileX": {
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"joint_order": [
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"source": "Dataset authors' recommended AgileX model and joint order",
"model_sha256": "d4a115493af6a67ef969cfb8686b54f2970225b617ec6dd99cf682c0c4c7b6e9",
"manufacturer_match": "Byte-identical to agilexrobotics/Mobile_aloha_sim at f799ae0192c0c2bbd502ec4d9bbec8c2633acd1a",
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"base_frames": [
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"endpoints": [
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"camera_reprojection_validated": false,
"note": "Model-based reconstruction. Invalid native EEF fields are not treated as ground truth, and no fitted offsets from those fields are applied.",
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}