diff --git a/so101_data_2/view10_cam138422070384/T_cam_world.yaml b/so101_data_2/view10_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a5491dbf1ab961054a7d06912a72f6c01cad0f0e --- /dev/null +++ b/so101_data_2/view10_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.0900615605753814 + - 0.9952680071023079 + - 0.03647614762180251 + - -0.05183417800484663 +- - 0.6506591870884104 + - 0.08652731141814166 + - -0.7544240496141392 + - -0.041408505725886724 +- - -0.7540103033541227 + - -0.04421106668412961 + - -0.6553730571349998 + - 1.6677061125880936 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view10_cam138422070384/T_cb.yaml b/so101_data_2/view10_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd1774cc6dc985211a4d792687864a1d7bea9f9f --- /dev/null +++ b/so101_data_2/view10_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9952680071023079 + - 0.09006156057538145 + - 0.03647614762180251 + - 0.03859446117426295 +- - 0.0865273114181417 + - -0.6506591870884104 + - -0.7544240496141392 + - 0.22795055121020374 +- - -0.044211066684129656 + - 0.7540103033541227 + - -0.6553730571349998 + - 1.4145488301277334 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view10_cam138422070384/T_world_base.yaml b/so101_data_2/view10_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view10_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view10_cam138422070384/intrinsics.yaml b/so101_data_2/view10_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view10_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view10_cam138422070384/meta.yaml b/so101_data_2/view10_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d4a9167b5db70aad4cb541bde1e1ddba61137dc --- /dev/null +++ b/so101_data_2/view10_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 10 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T14:26:48' diff --git a/so101_data_2/view17_cam138422070384/T_cam_world.yaml b/so101_data_2/view17_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..30bc4598d7a24564a1fe5f06e4f3044b15af5c66 --- /dev/null +++ b/so101_data_2/view17_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.41268325885995016 + - 0.9094537356273165 + - -0.0508569622593672 + - 0.06128476363525278 +- - 0.6968904337923143 + - -0.3511955342254867 + - -0.6253042619627944 + - -0.07423013012920227 +- - -0.5865460349755093 + - 0.22261087011553216 + - -0.7787221258965964 + - 1.2795374246195885 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view17_cam138422070384/T_cb.yaml b/so101_data_2/view17_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86bae8f277646bd6725aab8c0148475c17780cb1 --- /dev/null +++ b/so101_data_2/view17_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9094537356273165 + - -0.4126832588599501 + - -0.0508569622593672 + - 0.32398149710953444 +- - -0.35119553422548666 + - -0.6968904337923143 + - -0.6253042619627944 + - 0.15279314606410832 +- - 0.22261087011553213 + - 0.5865460349755093 + - -0.7787221258965964 + - 1.123745549708224 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view17_cam138422070384/T_world_base.yaml b/so101_data_2/view17_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view17_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view17_cam138422070384/intrinsics.yaml b/so101_data_2/view17_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view17_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view17_cam138422070384/meta.yaml b/so101_data_2/view17_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae73eef33820c338f6d53ce6863036d09ed47a79 --- /dev/null +++ b/so101_data_2/view17_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 17 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T14:44:57' diff --git a/so101_data_2/view18_cam138422070384/T_cam_world.yaml b/so101_data_2/view18_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b0d9816cc95508618f75f812c09068ff5cdb953f --- /dev/null +++ b/so101_data_2/view18_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9003094360142919 + - 0.43478845175274183 + - -0.020047983591405666 + - -0.5196944062065446 +- - 0.33385908781795726 + - -0.7194019286519283 + - -0.6090968515213713 + - 0.01955760630051613 +- - -0.279250835101686 + - 0.5416824413568706 + - -0.7928424205481638 + - 1.1716340118301016 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view18_cam138422070384/T_cb.yaml b/so101_data_2/view18_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..238f781675f0a1ef9e41bbaa238268bbaca1079f --- /dev/null +++ b/so101_data_2/view18_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.4347884517527419 + - -0.9003094360142919 + - -0.020047983591405666 + - -0.14257083442810364 +- - -0.7194019286519283 + - -0.3338590878179573 + - -0.6090968515213713 + - 0.0702229125739064 +- - 0.5416824413568706 + - 0.2792508351016861 + - -0.7928424205481638 + - 1.166058319111266 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view18_cam138422070384/T_world_base.yaml b/so101_data_2/view18_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view18_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view18_cam138422070384/intrinsics.yaml b/so101_data_2/view18_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view18_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view18_cam138422070384/meta.yaml b/so101_data_2/view18_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cf858c0462c5463ea3ed00f66003544f75db4b10 --- /dev/null +++ b/so101_data_2/view18_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 18 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T14:47:48' diff --git a/so101_data_2/view19_cam138422070384/T_cam_world.yaml b/so101_data_2/view19_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c0b030cb880cc1c68586b3118e243f1a19cbc2c --- /dev/null +++ b/so101_data_2/view19_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.8820502990641139 + - 0.4706008800505209 + - -0.022849105378164175 + - -0.611724118071467 +- - 0.3255509439044114 + - -0.6438044070998694 + - -0.6924828289002785 + - -0.005805440354911651 +- - -0.3405933834410967 + - 0.6033661385050215 + - -0.7210724305239282 + - 1.3295116227326733 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view19_cam138422070384/T_cb.yaml b/so101_data_2/view19_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..85386d653d51e1e9db07e2412f3a43620f0e964c --- /dev/null +++ b/so101_data_2/view19_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.470600880050521 + - -0.8820502990641139 + - -0.022849105378164175 + - -0.23658343185736647 +- - -0.6438044070998694 + - -0.32555094390441147 + - -0.6924828289002785 + - 0.054132565061543396 +- - 0.6033661385050215 + - 0.34059338344109674 + - -0.7210724305239282 + - 1.3072147383424495 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view19_cam138422070384/T_world_base.yaml b/so101_data_2/view19_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view19_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view19_cam138422070384/intrinsics.yaml b/so101_data_2/view19_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view19_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view19_cam138422070384/meta.yaml b/so101_data_2/view19_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6796659339f00eccbd5069ad70590e31f0559e51 --- /dev/null +++ b/so101_data_2/view19_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 19 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T14:52:05' diff --git a/so101_data_2/view22_cam138422070384/T_cam_world.yaml b/so101_data_2/view22_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..05c40f0a323884fcb724d99b03a1dd0687f19c40 --- /dev/null +++ b/so101_data_2/view22_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.22030166575033397 + - 0.9751413172949694 + - -0.023803095846134326 + - -0.04938858709252293 +- - 0.6579307995494261 + - -0.1665654856549504 + - -0.7344269888782571 + - -0.02833431467950348 +- - -0.7201348756114241 + - 0.1461346991400832 + - -0.6782701605078587 + - 1.4202497144295791 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view22_cam138422070384/T_cb.yaml b/so101_data_2/view22_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95a022230cedadd68ae6852e3c67db8bf34c18db --- /dev/null +++ b/so101_data_2/view22_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9751413172949694 + - -0.2203016657503339 + - -0.023803095846134326 + - 0.15169380850808906 +- - -0.16656548565495038 + - -0.6579307995494261 + - -0.7344269888782571 + - 0.21143802621701066 +- - 0.14613469914008315 + - 0.7201348756114241 + - -0.6782701605078587 + - 1.2036963844608968 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view22_cam138422070384/T_world_base.yaml b/so101_data_2/view22_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view22_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view22_cam138422070384/intrinsics.yaml b/so101_data_2/view22_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view22_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view22_cam138422070384/meta.yaml b/so101_data_2/view22_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..558d2e9a888eae1fe87c7b9b253ffa9b585bdb61 --- /dev/null +++ b/so101_data_2/view22_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 22 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T15:02:25' diff --git a/so101_data_2/view23_cam138422070384/T_cam_world.yaml b/so101_data_2/view23_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..94f669c22c9cf29177e494aa6f08f679fc03356f --- /dev/null +++ b/so101_data_2/view23_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.5498887230276885 + - 0.8349889740175054 + - -0.020391310800729034 + - -0.4566026375403771 +- - 0.6236627884528589 + - -0.4267127554747598 + - -0.6549511055142534 + - -0.07884577606925751 +- - -0.5555781840444984 + - 0.3474329253026141 + - -0.7553960840707911 + - 1.286606509339935 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view23_cam138422070384/T_cb.yaml b/so101_data_2/view23_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9c0d03c10d04f26e57c8a852e44b0e15626d8224 --- /dev/null +++ b/so101_data_2/view23_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.8349889740175054 + - -0.5498887230276885 + - -0.020391310800729034 + - -0.15509304286406017 +- - -0.42671275547475973 + - -0.6236627884528589 + - -0.6549511055142534 + - 0.11356810172774313 +- - 0.34743292530261405 + - 0.5555781840444984 + - -0.7553960840707911 + - 1.156648385510587 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view23_cam138422070384/T_world_base.yaml b/so101_data_2/view23_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view23_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view23_cam138422070384/intrinsics.yaml b/so101_data_2/view23_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view23_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view23_cam138422070384/meta.yaml b/so101_data_2/view23_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c80dcb6d8296889afe5b39ebaaa69395ef96d211 --- /dev/null +++ b/so101_data_2/view23_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 23 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T15:04:37' diff --git a/so101_data_2/view25_cam138422070384/T_cam_world.yaml b/so101_data_2/view25_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc55fa1eac643c2e6227d50e852f7b6555fcab4d --- /dev/null +++ b/so101_data_2/view25_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.28596090512464173 + - 0.9580443080495059 + - -0.01942844703622848 + - -0.48154343610433253 +- - 0.601796077025634 + - -0.19533067412990207 + - -0.7743948666026368 + - -0.024225633713463854 +- - -0.745699565788296 + - 0.20975469376846345 + - -0.6324042425737239 + - 1.5003976620241262 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view25_cam138422070384/T_cb.yaml b/so101_data_2/view25_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7ae7ef3f5833cb025bca5819456456fbb902afa6 --- /dev/null +++ b/so101_data_2/view25_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9580443080495059 + - -0.2859609051246417 + - -0.01942844703622848 + - -0.25923234851831534 +- - -0.19533067412990204 + - -0.601796077025634 + - -0.7743948666026368 + - 0.19322811839703008 +- - 0.2097546937684634 + - 0.745699565788296 + - -0.6324042425737239 + - 1.2810534210935964 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view25_cam138422070384/T_world_base.yaml b/so101_data_2/view25_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view25_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view25_cam138422070384/intrinsics.yaml b/so101_data_2/view25_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view25_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view25_cam138422070384/meta.yaml b/so101_data_2/view25_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3176373d67a26bf6c0db7861be8daa4d43411951 --- /dev/null +++ b/so101_data_2/view25_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 25 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T15:35:01' diff --git a/so101_data_2/view27_cam138422070384/T_cam_world.yaml b/so101_data_2/view27_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a372752cbd0cbd2c16412a4b54a9afc4df3f8186 --- /dev/null +++ b/so101_data_2/view27_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.31130173360429747 + - 0.928002696073161 + - -0.20470033399069804 + - -0.3192106991114802 +- - 0.4840663100703385 + - -0.34021154474881843 + - -0.8061860283300062 + - 0.16103541363757998 +- - -0.8177842246643339 + - 0.15187857288165113 + - -0.5551232844959642 + - 1.5491229697733895 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view27_cam138422070384/T_world_base.yaml b/so101_data_2/view27_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view27_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view27_cam138422070384/intrinsics.yaml b/so101_data_2/view27_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view27_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view27_cam138422070384/meta.yaml b/so101_data_2/view27_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a4efff98c0da0aacfe7cfe2c20610d73c1904e4 --- /dev/null +++ b/so101_data_2/view27_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 27 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T15:41:23' diff --git a/so101_data_2/view29_cam138422070384/T_cam_world.yaml b/so101_data_2/view29_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11deb7be5cd9896040520cc5cdb02d8885330c60 --- /dev/null +++ b/so101_data_2/view29_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.5279172771239505 + - 0.8294282941580275 + - -0.1826254455549352 + - -0.3707359973912887 +- - 0.48307697864780796 + - -0.47011218618266326 + - -0.7386685082654209 + - -0.017458143355419876 +- - -0.6985270082212565 + - 0.30173371911780345 + - -0.6488580596192046 + - 1.4633379955611452 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view29_cam138422070384/T_cb.yaml b/so101_data_2/view29_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0b300fe1c1abfb1f51b49f0ccd6893c6b2971e96 --- /dev/null +++ b/so101_data_2/view29_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.8294282941580275 + - -0.5279172771239505 + - -0.1826254455549352 + - -0.07226852440937193 +- - -0.4701121861826632 + - -0.483076978647808 + - -0.7386685082654209 + - 0.1220691771017782 +- - 0.3017337191178034 + - 0.6985270082212565 + - -0.6488580596192046 + - 1.2728923486751547 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view29_cam138422070384/T_world_base.yaml b/so101_data_2/view29_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view29_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view29_cam138422070384/intrinsics.yaml b/so101_data_2/view29_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view29_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view29_cam138422070384/meta.yaml b/so101_data_2/view29_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bbce7f932bc2c52906f8974f296962a7556d0457 --- /dev/null +++ b/so101_data_2/view29_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 29 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T15:50:15' diff --git a/so101_data_2/view2_cam138422070384/T_cam_world.yaml b/so101_data_2/view2_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ac28015eb008e0fe37d33cff24227b81c9d026a0 --- /dev/null +++ b/so101_data_2/view2_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.4290593392325277 + - 0.8171039293766 + - 0.38503149483473 + - -0.07981545172096136 +- - 0.29999520251414724 + - 0.5309697932467464 + - -0.7925111716108506 + - -0.06572855935046346 +- - -0.8520040856039615 + - -0.22452671835847826 + - -0.4729448074113194 + - 1.0797842360027106 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view2_cam138422070384/T_cb.yaml b/so101_data_2/view2_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9de3fb4832f160783bfb235f1c75385a2409fb5a --- /dev/null +++ b/so101_data_2/view2_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.8171039293766 + - 0.42905933923252776 + - 0.38503149483473 + - -0.1447803267832004 +- - 0.5309697932467464 + - -0.2999952025141472 + - -0.7925111716108506 + - 0.13472084224359027 +- - -0.22452671835847832 + - 0.8520040856039615 + - -0.4729448074113194 + - 0.7628933203728464 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view2_cam138422070384/T_world_base.yaml b/so101_data_2/view2_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view2_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view2_cam138422070384/intrinsics.yaml b/so101_data_2/view2_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view2_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view2_cam138422070384/meta.yaml b/so101_data_2/view2_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b054c780c87eb00507916a2b0b91138888dd5f92 --- /dev/null +++ b/so101_data_2/view2_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 2 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T13:54:23' diff --git a/so101_data_2/view40_cam138422070384/T_cam_world.yaml b/so101_data_2/view40_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cbcfa371efbc1c32417a71e119bf1990e52485a --- /dev/null +++ b/so101_data_2/view40_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.13208136309076218 + - 0.975811694892042 + - 0.17420117575954053 + - -0.41454160945275526 +- - 0.748951925459083 + - 0.21336561163575535 + - -0.6273325506638662 + - -0.2643380610923954 +- - -0.6493269799378572 + - 0.047609367599456 + - -0.7590176685964309 + - 1.1680619647873585 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view40_cam138422070384/T_cb.yaml b/so101_data_2/view40_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..acb22a7ec37b5c76d822ec4bb8681cd673fba5ba --- /dev/null +++ b/so101_data_2/view40_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.975811694892042 + - 0.13208136309076224 + - 0.17420117575954053 + - -0.3462610214010132 +- - 0.2133656116357554 + - -0.748951925459083 + - -0.6273325506638662 + - 0.05168005359317951 +- - 0.04760936759945596 + - 0.6493269799378572 + - -0.7590176685964309 + - 0.9673368729680164 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view40_cam138422070384/T_world_base.yaml b/so101_data_2/view40_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view40_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view40_cam138422070384/intrinsics.yaml b/so101_data_2/view40_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view40_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view40_cam138422070384/meta.yaml b/so101_data_2/view40_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..647558b580eaad7538ee98c9143d6ef50831ae89 --- /dev/null +++ b/so101_data_2/view40_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 40 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T16:28:54' diff --git a/so101_data_2/view43_cam138422070384/T_cam_world.yaml b/so101_data_2/view43_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..90d3535ede0425eaaeed6e23f4f00264f2af3564 --- /dev/null +++ b/so101_data_2/view43_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.5767331238605523 + - 0.8019768383494955 + - 0.15560223196662573 + - -0.22378150300266295 +- - 0.6612796599253096 + - -0.34646125917513926 + - -0.6653373634930205 + - -0.07342892108147334 +- - -0.4796750099923025 + - 0.486618687106983 + - -0.7301466552324679 + - 1.0531289377602757 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view43_cam138422070384/T_cb.yaml b/so101_data_2/view43_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b31b9561e44897f243e596764d8d60fb26d675b0 --- /dev/null +++ b/so101_data_2/view43_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.8019768383494955 + - -0.5767331238605523 + - 0.15560223196662573 + - 0.07724459582706197 +- - -0.3464612591751392 + - -0.6612796599253096 + - -0.6653373634930205 + - 0.14279624076324549 +- - 0.4866186871069829 + - 0.47967500999230256 + - -0.7301466552324679 + - 0.9668142970057546 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view43_cam138422070384/T_world_base.yaml b/so101_data_2/view43_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view43_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view43_cam138422070384/intrinsics.yaml b/so101_data_2/view43_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view43_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view43_cam138422070384/meta.yaml b/so101_data_2/view43_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c3eedc63c647e67e89d90385a45e42a5fc59996a --- /dev/null +++ b/so101_data_2/view43_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 43 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T16:36:30' diff --git a/so101_data_2/view46_cam138422070384/T_cam_world.yaml b/so101_data_2/view46_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b77bbca57a91bcf60751e9a5c52f469ef2f58bc4 --- /dev/null +++ b/so101_data_2/view46_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.32575038437341264 + - 0.9364760723539367 + - 0.1299971268494748 + - -0.33322336696418164 +- - 0.5947772292710076 + - -0.0960994526379033 + - -0.7981258940439149 + - -0.037975143422117684 +- - -0.734933149763485 + - 0.33730914768390113 + - -0.5882990772281417 + - 1.2034088777893894 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view46_cam138422070384/T_cb.yaml b/so101_data_2/view46_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..915166bd21af8d5428840a7265b2084f351bbe3c --- /dev/null +++ b/so101_data_2/view46_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9364760723539367 + - -0.3257503843734126 + - 0.1299971268494748 + - -0.10443336066331677 +- - -0.09609945263790326 + - -0.5947772292710076 + - -0.7981258940439149 + - 0.19012700320097733 +- - 0.3373091476839011 + - 0.734933149763485 + - -0.5882990772281417 + - 1.0022999676864641 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view46_cam138422070384/T_world_base.yaml b/so101_data_2/view46_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view46_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view46_cam138422070384/intrinsics.yaml b/so101_data_2/view46_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view46_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view46_cam138422070384/meta.yaml b/so101_data_2/view46_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7245e4410e53c5c8fb03b2f0a2aaf9d07a5eb9a4 --- /dev/null +++ b/so101_data_2/view46_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 46 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T16:42:47' diff --git a/so101_data_2/view47_cam138422070384/T_cam_world.yaml b/so101_data_2/view47_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8e3d3b81ea7ef972d3ed41232d6ee190e1e80add --- /dev/null +++ b/so101_data_2/view47_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.3102948352326907 + - 0.9352122316917235 + - 0.17057314244072422 + - -0.5694222913894528 +- - 0.7193728381000866 + - -0.11369765168372178 + - -0.6852558382133156 + - -0.23117023270867798 +- - -0.6214658759994341 + - 0.3353370329918741 + - -0.7080460714335352 + - 1.227201355445404 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view47_cam138422070384/T_cb.yaml b/so101_data_2/view47_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0eee619976e2060afda6e5992ca3d7404c7e23e3 --- /dev/null +++ b/so101_data_2/view47_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9352122316917235 + - -0.31029483523269064 + - 0.17057314244072422 + - -0.34770230437351435 +- - -0.11369765168372174 + - -0.7193728381000866 + - -0.6852558382133156 + - 0.035508584195782567 +- - 0.33533703299187406 + - 0.6214658759994341 + - -0.7080460714335352 + - 1.0705395988738349 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view47_cam138422070384/T_world_base.yaml b/so101_data_2/view47_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view47_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view47_cam138422070384/intrinsics.yaml b/so101_data_2/view47_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view47_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view47_cam138422070384/meta.yaml b/so101_data_2/view47_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b8aee1652510568c9192590748c520702a6db70d --- /dev/null +++ b/so101_data_2/view47_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 47 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T16:51:40' diff --git a/so101_data_2/view4_cam138422070384/T_cam_world.yaml b/so101_data_2/view4_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bda91d3002d71d35b088c81222cde8782abbd5fa --- /dev/null +++ b/so101_data_2/view4_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.37617293605171975 + - 0.8862812229963843 + - 0.27018422593901037 + - -0.42285012106078373 +- - 0.5778308172835087 + - 0.003549922992900377 + - -0.8161488495637403 + - -0.15129575000674853 +- - -0.7242965337344238 + - 0.463133881087076 + - -0.5107852184720316 + - 0.9643609825348416 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view4_cam138422070384/T_cb.yaml b/so101_data_2/view4_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e0b7255189dbaf9cf6ff836fe48cc2750a325c60 --- /dev/null +++ b/so101_data_2/view4_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.8862812229963843 + - -0.3761729360517197 + - 0.27018422593901037 + - -0.18702446137314438 +- - 0.0035499229929004126 + - -0.5778308172835087 + - -0.8161488495637403 + - 0.08375870887853101 +- - 0.4631338810870759 + - 0.7242965337344238 + - -0.5107852184720316 + - 0.7800896890813077 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view4_cam138422070384/T_world_base.yaml b/so101_data_2/view4_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view4_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view4_cam138422070384/intrinsics.yaml b/so101_data_2/view4_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view4_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view4_cam138422070384/meta.yaml b/so101_data_2/view4_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f837cb2bc9a1bf987610ac4cd8f6d8de0964493 --- /dev/null +++ b/so101_data_2/view4_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 4 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T14:05:21' diff --git a/so101_data_2/view51_cam138422070384/T_cam_world.yaml b/so101_data_2/view51_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..94d662fbf1422b90fba52e4e2aae0c16f910bad2 --- /dev/null +++ b/so101_data_2/view51_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9616184209660049 + - -0.2651185296845621 + - 0.07072607494229673 + - -0.6015821037764816 +- - -0.1543779862477395 + - -0.735837763356669 + - -0.6593255822280428 + - 0.002012581240768028 +- - 0.22684234574025236 + - 0.6231010762598239 + - -0.748523612815861 + - 1.2846544722786875 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view51_cam138422070384/T_cb.yaml b/so101_data_2/view51_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cbe88b5f730eb499577f65b2c2ce6f9c4cda3ef1 --- /dev/null +++ b/so101_data_2/view51_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.26511852968456207 + - -0.9616184209660049 + - 0.07072607494229673 + - -0.2927346525644177 +- - -0.735837763356669 + - 0.15437798624773943 + - -0.6593255822280428 + - -0.12244946957807464 +- - 0.6231010762598239 + - -0.22684234574025233 + - -0.748523612815861 + - 1.4688899188837854 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view51_cam138422070384/T_world_base.yaml b/so101_data_2/view51_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view51_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view51_cam138422070384/intrinsics.yaml b/so101_data_2/view51_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view51_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view51_cam138422070384/meta.yaml b/so101_data_2/view51_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2dec024fcc6b038eac1732e560ddb3571a271bdc --- /dev/null +++ b/so101_data_2/view51_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 51 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T17:00:31' diff --git a/so101_data_2/view54_cam138422070384/T_cb.yaml b/so101_data_2/view54_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..737520749e6453bacbf4f51c9f88b57f82b1ea88 --- /dev/null +++ b/so101_data_2/view54_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.03371237236101387 + - -0.9930565835684992 + - 0.11270358370989168 + - -0.009925028973807593 +- - -0.5549392087622066 + - -0.07518710127863253 + - -0.8284861944412186 + - 0.1715891841580201 +- - 0.8312075255483243 + - -0.09047387265159411 + - -0.5485512991865525 + - 1.2919554182499147 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view54_cam138422070384/T_world_base.yaml b/so101_data_2/view54_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view54_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view54_cam138422070384/meta.yaml b/so101_data_2/view54_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b39bd43cbc66fcd6b2dd3895a633ebcc3d71d7e3 --- /dev/null +++ b/so101_data_2/view54_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 54 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T17:08:09' diff --git a/so101_data_2/view57_cam138422070384/T_cam_world.yaml b/so101_data_2/view57_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..40295967ebc7584b76bc34b3129b21accfbc38d1 --- /dev/null +++ b/so101_data_2/view57_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9779967970905763 + - -0.040108498138820545 + - 0.20472804707128486 + - -0.3880007075342001 +- - 0.10905981981147954 + - -0.7382778026438088 + - -0.6656213952586836 + - 0.11123177419328861 +- - 0.17784324722423853 + - 0.6733031965619036 + - -0.7176591007687848 + - 0.6510645730617296 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view57_cam138422070384/T_cb.yaml b/so101_data_2/view57_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43d4857dbbc89c33555e1d78f21c59f10a6ad1c6 --- /dev/null +++ b/so101_data_2/view57_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.04010849813882048 + - -0.9779967970905763 + - 0.20472804707128486 + - -0.04983211579448038 +- - -0.7382778026438088 + - -0.10905981981147958 + - -0.6656213952586836 + - 0.0809907306954393 +- - 0.6733031965619036 + - -0.1778432472242385 + - -0.7176591007687848 + - 0.8229591129661028 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view57_cam138422070384/T_world_base.yaml b/so101_data_2/view57_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view57_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view57_cam138422070384/intrinsics.yaml b/so101_data_2/view57_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view57_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view57_cam138422070384/meta.yaml b/so101_data_2/view57_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a6f731a5773e2806633fba8ea5bceacbfabae2d1 --- /dev/null +++ b/so101_data_2/view57_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 57 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T17:15:40' diff --git a/so101_data_2/view5_cam138422070384/T_cam_world.yaml b/so101_data_2/view5_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..96963bcf920beb4d80b800d824a1ad07fe08becd --- /dev/null +++ b/so101_data_2/view5_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.308496577472775 + - 0.9278427955824156 + - -0.20961299667098893 + - -0.1966570224664942 +- - 0.392889345616757 + - -0.3249737911530934 + - -0.8602499620252373 + - -0.029436672611910124 +- - -0.866295459868295 + - 0.1830294559610381 + - -0.46479285113067925 + - 1.2433096707251914 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view5_cam138422070384/T_cb.yaml b/so101_data_2/view5_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..daac430e63bb9a0262c29c0129e691a972844ee1 --- /dev/null +++ b/so101_data_2/view5_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9278427955824156 + - -0.3084965774727749 + - -0.20961299667098893 + - 0.03642802220558378 +- - -0.3249737911530934 + - -0.392889345616757 + - -0.8602499620252373 + - 0.10000697482918688 +- - 0.18302945596103803 + - 0.866295459868295 + - -0.46479285113067925 + - 0.9717660202979339 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view5_cam138422070384/T_world_base.yaml b/so101_data_2/view5_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view5_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view5_cam138422070384/intrinsics.yaml b/so101_data_2/view5_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view5_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view5_cam138422070384/meta.yaml b/so101_data_2/view5_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e6ea9d2675a2bc2c1e7c456611d50ebdb84a0549 --- /dev/null +++ b/so101_data_2/view5_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 5 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T14:09:51' diff --git a/so101_data_2/view60_cam138422070384/T_cb.yaml b/so101_data_2/view60_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0514a8bfef55b8a4299cbd203bf2e4705f579746 --- /dev/null +++ b/so101_data_2/view60_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.3293994229160554 + - -0.9312249706656794 + - -0.15593612215030275 + - -0.04416408977313807 +- - -0.589315675215561 + - 0.33180617195476325 + - -0.7366218155865013 + - 0.10332411482027024 +- - 0.7377011963714014 + - -0.15074719984606863 + - -0.6580822339273205 + - 0.9503060369431414 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view60_cam138422070384/intrinsics.yaml b/so101_data_2/view60_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view60_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view60_cam138422070384/meta.yaml b/so101_data_2/view60_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2945556d7bbb8c7d8fc21e9b8e607b198f21c6c8 --- /dev/null +++ b/so101_data_2/view60_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 60 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T17:27:39' diff --git a/so101_data_2/view9_cam138422070384/T_cam_world.yaml b/so101_data_2/view9_cam138422070384/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a9b23738ac84ac0e5f9470757bdc661dc3006d52 --- /dev/null +++ b/so101_data_2/view9_cam138422070384/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.10217159562741507 + - 0.9924726430649351 + - 0.06752049921801911 + - -0.05237246265256964 +- - 0.623118939641744 + - -0.010942985600911309 + - -0.7820505342533098 + - -0.2261560390052201 +- - -0.7754248848900176 + - 0.12197665282274617 + - -0.6195465632698344 + - 1.1127246262904522 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 138422070384 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/138422070384.yaml. diff --git a/so101_data_2/view9_cam138422070384/T_cb.yaml b/so101_data_2/view9_cam138422070384/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b0ca704bb38a245d036be7a742b8762f5066dd35 --- /dev/null +++ b/so101_data_2/view9_cam138422070384/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9924726430649351 + - -0.10217159562741501 + - 0.06752049921801911 + - 0.10547211567021686 +- - -0.010942985600911271 + - -0.623118939641744 + - -0.7820505342533098 + - 0.022147857843823476 +- - 0.12197665282274613 + - 0.7754248848900176 + - -0.6195465632698344 + - 0.871373193927432 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb / T_cam_base for 138422070384 (P_cam = T @ P_base). diff --git a/so101_data_2/view9_cam138422070384/T_world_base.yaml b/so101_data_2/view9_cam138422070384/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef187e1ab322bbefe8e08a5ea36807a4b00ae7d --- /dev/null +++ b/so101_data_2/view9_cam138422070384/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base (P_world = T @ P_base). diff --git a/so101_data_2/view9_cam138422070384/intrinsics.yaml b/so101_data_2/view9_cam138422070384/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3c31fe3546b35fd1642c20eb17f4ddc8fc3f7e5 --- /dev/null +++ b/so101_data_2/view9_cam138422070384/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 906.7410888671875 + - 0.0 + - 644.0062255859375 +- - 0.0 + - 906.5532836914062 + - 360.11358642578125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '138422070384' diff --git a/so101_data_2/view9_cam138422070384/meta.yaml b/so101_data_2/view9_cam138422070384/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..938de40a9c19c4c8ade7b64a2ce2d5a8dd832dcb --- /dev/null +++ b/so101_data_2/view9_cam138422070384/meta.yaml @@ -0,0 +1,48 @@ +view_n: 9 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '138422070384' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-15T14:21:05' diff --git a/so101_data_new/view13_cam104122062574/T_cam_world.yaml b/so101_data_new/view13_cam104122062574/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8602cb8c43cfc452a401f6c6313076390c20e53 --- /dev/null +++ b/so101_data_new/view13_cam104122062574/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.838335163276915 + - 0.5432526298297742 + - -0.0455053205296129 + - -0.42239624069590515 +- - 0.2596855517874675 + - -0.47134202828673755 + - -0.8428523634441463 + - -0.13793553934061473 +- - -0.47933033307553896 + - 0.6947756994552838 + - -0.5362174551803721 + - 1.3200992855222715 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 104122062574 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/104122062574.yaml. diff --git a/so101_data_new/view13_cam104122062574/T_cb.yaml b/so101_data_new/view13_cam104122062574/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6fbcc28ee009e3eb4e6e150f261b7f9c67cab28c --- /dev/null +++ b/so101_data_new/view13_cam104122062574/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.5432526298297742 + - -0.838335163276915 + - -0.0455053205296129 + - -0.053090118930955554 +- - -0.47134202828673755 + - -0.25968555178746755 + - -0.8428523634441463 + - -0.07499321396529919 +- - 0.6947756994552838 + - 0.479330333075539 + - -0.5362174551803721 + - 1.253229994339544 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb. Recomputed after manual nudge. diff --git a/so101_data_new/view13_cam104122062574/T_world_base.yaml b/so101_data_new/view13_cam104122062574/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..98f663df227d9afbbc3aa2eabaa368094122a89b --- /dev/null +++ b/so101_data_new/view13_cam104122062574/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base. Manually nudged. diff --git a/so101_data_new/view13_cam104122062574/intrinsics.yaml b/so101_data_new/view13_cam104122062574/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa28c112598b2284b1549ff1e0ab1853a50aa7f1 --- /dev/null +++ b/so101_data_new/view13_cam104122062574/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 912.6836547851562 + - 0.0 + - 634.0953979492188 +- - 0.0 + - 912.2241821289062 + - 336.95611572265625 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '104122062574' diff --git a/so101_data_new/view13_cam104122062574/meta.yaml b/so101_data_new/view13_cam104122062574/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0dffce8a169781e25495a24e8a44b02edfd8f043 --- /dev/null +++ b/so101_data_new/view13_cam104122062574/meta.yaml @@ -0,0 +1,49 @@ +view_n: 13 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '104122062574' +- '408322072302' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -30.0 + - 30.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-07T18:31:08' diff --git a/so101_data_new/view15_cam104122062574/T_cam_world.yaml b/so101_data_new/view15_cam104122062574/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b6012286d34bc36f14eca55adea7493ccafa5e7f --- /dev/null +++ b/so101_data_new/view15_cam104122062574/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.0032842981940613136 + - 0.9993199176240624 + - -0.03672758670549742 + - -0.34558758673218193 +- - 0.5850646328025009 + - -0.02786541956324526 + - -0.8105077999848238 + - -0.05876297649740515 +- - -0.8109800175275883 + - -0.024149961333336634 + - -0.5845752223097993 + - 1.2345081587431532 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 104122062574 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/104122062574.yaml. diff --git a/so101_data_new/view15_cam104122062574/T_cb.yaml b/so101_data_new/view15_cam104122062574/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4b8f5088554775a95ed593fa0afaab290b822efd --- /dev/null +++ b/so101_data_new/view15_cam104122062574/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9993199176240624 + - 0.0032842981940613748 + - -0.03672758670549742 + - -0.2210992977934731 +- - -0.027865419563245224 + - -0.5850646328025009 + - -0.8105077999848238 + - 0.1747781825097503 +- - -0.024149961333336682 + - 0.8109800175275883 + - -0.5845752223097993 + - 0.9610461998408092 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb. Recomputed after manual nudge. diff --git a/so101_data_new/view15_cam104122062574/T_world_base.yaml b/so101_data_new/view15_cam104122062574/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..98f663df227d9afbbc3aa2eabaa368094122a89b --- /dev/null +++ b/so101_data_new/view15_cam104122062574/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base. Manually nudged. diff --git a/so101_data_new/view15_cam104122062574/intrinsics.yaml b/so101_data_new/view15_cam104122062574/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa28c112598b2284b1549ff1e0ab1853a50aa7f1 --- /dev/null +++ b/so101_data_new/view15_cam104122062574/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 912.6836547851562 + - 0.0 + - 634.0953979492188 +- - 0.0 + - 912.2241821289062 + - 336.95611572265625 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '104122062574' diff --git a/so101_data_new/view15_cam104122062574/meta.yaml b/so101_data_new/view15_cam104122062574/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..62a0ed3102c33f95dd4c1e64016081a961ebdbc6 --- /dev/null +++ b/so101_data_new/view15_cam104122062574/meta.yaml @@ -0,0 +1,49 @@ +view_n: 15 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '104122062574' +- '408322072302' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-07T18:42:18' diff --git a/so101_data_new/view19_cam104122062574/T_cam_world.yaml b/so101_data_new/view19_cam104122062574/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c467ed59d90bf5b310bf20c2607458824adac11 --- /dev/null +++ b/so101_data_new/view19_cam104122062574/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.07109118567591391 + - 0.9969633688037509 + - -0.03178182786859568 + - -0.11024800193801156 +- - 0.8003875495223671 + - -0.0760301871734391 + - -0.5946420614184238 + - -0.2694545367130569 +- - -0.5952527311056821 + - 0.016836029871918456 + - -0.8033621438737194 + - 0.9079103924759254 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 104122062574 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/104122062574.yaml. diff --git a/so101_data_new/view19_cam104122062574/T_cb.yaml b/so101_data_new/view19_cam104122062574/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7003163dad47b3bef2e7dfadddbccadc5046fcbb --- /dev/null +++ b/so101_data_new/view19_cam104122062574/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.9969633688037509 + - -0.07109118567591385 + - -0.03178182786859568 + - 0.04040516409756499 +- - -0.07603018717343904 + - -0.8003875495223671 + - -0.5946420614184238 + - 0.027836277801083997 +- - 0.01683602987191842 + - 0.5952527311056821 + - -0.8033621438737194 + - 0.7242203133508514 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb. Recomputed after manual nudge. diff --git a/so101_data_new/view19_cam104122062574/T_world_base.yaml b/so101_data_new/view19_cam104122062574/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..98f663df227d9afbbc3aa2eabaa368094122a89b --- /dev/null +++ b/so101_data_new/view19_cam104122062574/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base. Manually nudged. diff --git a/so101_data_new/view19_cam104122062574/intrinsics.yaml b/so101_data_new/view19_cam104122062574/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa28c112598b2284b1549ff1e0ab1853a50aa7f1 --- /dev/null +++ b/so101_data_new/view19_cam104122062574/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 912.6836547851562 + - 0.0 + - 634.0953979492188 +- - 0.0 + - 912.2241821289062 + - 336.95611572265625 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '104122062574' diff --git a/so101_data_new/view19_cam104122062574/meta.yaml b/so101_data_new/view19_cam104122062574/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf680a198763f6278bf65df89e9399ad2e80ad95 --- /dev/null +++ b/so101_data_new/view19_cam104122062574/meta.yaml @@ -0,0 +1,49 @@ +view_n: 19 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '104122062574' +- '408322072302' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-07T19:06:54' diff --git a/so101_data_new/view24_cam408322072302/T_cam_world.yaml b/so101_data_new/view24_cam408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..30e9094e182a85bcea477358f6e61c78a8022924 --- /dev/null +++ b/so101_data_new/view24_cam408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.7906471495056581 + - 0.6119962690748935 + - -0.01837529909928301 + - 0.26924908180970086 +- - 0.4298579725890921 + - 0.5334682278101097 + - -0.7284461361821724 + - -0.12702847521901142 +- - -0.4360036793195361 + - -0.5838426299573809 + - -0.6848566091265202 + - 1.2199546104704837 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 408322072302 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/408322072302.yaml. diff --git a/so101_data_new/view24_cam408322072302/T_cb.yaml b/so101_data_new/view24_cam408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1b68fc960e3f142b208999ebd19ed5638750e27b --- /dev/null +++ b/so101_data_new/view24_cam408322072302/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.6119962690748935 + - 0.7906471495056581 + - -0.01837529909928301 + - 0.063015697955875 +- - 0.5334682278101097 + - -0.42985797258909203 + - -0.7284461361821724 + - 0.11804464196043624 +- - -0.5838426299573809 + - 0.43600367931953604 + - -0.6848566091265202 + - 1.0144620105546973 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb. Recomputed after manual nudge. diff --git a/so101_data_new/view24_cam408322072302/T_world_base.yaml b/so101_data_new/view24_cam408322072302/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..98f663df227d9afbbc3aa2eabaa368094122a89b --- /dev/null +++ b/so101_data_new/view24_cam408322072302/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base. Manually nudged. diff --git a/so101_data_new/view24_cam408322072302/intrinsics.yaml b/so101_data_new/view24_cam408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a1b47d2722dc39ab6df976d977f725a8ad4d4b1e --- /dev/null +++ b/so101_data_new/view24_cam408322072302/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '408322072302' diff --git a/so101_data_new/view24_cam408322072302/meta.yaml b/so101_data_new/view24_cam408322072302/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe084e573a049613b04b49fd1dad402607678dbb --- /dev/null +++ b/so101_data_new/view24_cam408322072302/meta.yaml @@ -0,0 +1,49 @@ +view_n: 24 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '104122062574' +- '408322072302' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -35.0 + - 35.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-07T20:24:12' diff --git a/so101_data_new/view7_cam104122062574/T_cam_world.yaml b/so101_data_new/view7_cam104122062574/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d611af216e595bea2e5d53aee5beebb3640a9844 --- /dev/null +++ b/so101_data_new/view7_cam104122062574/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.5456799441628359 + - 0.8372027297858813 + - -0.03640038155723896 + - -0.1241960915892321 +- - 0.4524747151203554 + - -0.33092305627671015 + - -0.8281041981545766 + - -0.061686614844900116 +- - -0.7053368207567199 + - 0.4354096003346156 + - -0.5593911415291207 + - 1.0033571191021617 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cam_world for 104122062574 (P_cam = T @ P_world). Loaded from /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics/104122062574.yaml. diff --git a/so101_data_new/view7_cam104122062574/T_cb.yaml b/so101_data_new/view7_cam104122062574/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..285228f124ea739ac36ad8d4fe5ed0871b33c1ac --- /dev/null +++ b/so101_data_new/view7_cam104122062574/T_cb.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.8372027297858813 + - -0.5456799441628359 + - -0.03640038155723896 + - 0.1766266812523517 +- - -0.33092305627671015 + - -0.4524747151203554 + - -0.8281041981545766 + - 0.08725495539899239 +- - 0.43540960033461557 + - 0.7053368207567199 + - -0.5593911415291207 + - 0.8240743313249056 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_cb. Recomputed after manual nudge. diff --git a/so101_data_new/view7_cam104122062574/T_world_base.yaml b/so101_data_new/view7_cam104122062574/T_world_base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..98f663df227d9afbbc3aa2eabaa368094122a89b --- /dev/null +++ b/so101_data_new/view7_cam104122062574/T_world_base.yaml @@ -0,0 +1,22 @@ +matrix: +- - 6.123233995736766e-17 + - -1.0 + - 0.0 + - 0.35800000000000026 +- - 1.0 + - 6.123233995736766e-17 + - 0.0 + - 0.1245000000000001 +- - 0.0 + - 0.0 + - 1.0 + - -0.03400000000000001 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: T_world_base. Manually nudged. diff --git a/so101_data_new/view7_cam104122062574/intrinsics.yaml b/so101_data_new/view7_cam104122062574/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa28c112598b2284b1549ff1e0ab1853a50aa7f1 --- /dev/null +++ b/so101_data_new/view7_cam104122062574/intrinsics.yaml @@ -0,0 +1,20 @@ +K: +- - 912.6836547851562 + - 0.0 + - 634.0953979492188 +- - 0.0 + - 912.2241821289062 + - 336.95611572265625 +- - 0.0 + - 0.0 + - 1.0 +dist: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +serial: '104122062574' diff --git a/so101_data_new/view7_cam104122062574/meta.yaml b/so101_data_new/view7_cam104122062574/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55f0145a55f09c6f2894d85c044faac7b123072f --- /dev/null +++ b/so101_data_new/view7_cam104122062574/meta.yaml @@ -0,0 +1,49 @@ +view_n: 7 +robot: so101 +joint_unit: degrees +joint_names: +- shoulder_pan +- shoulder_lift +- elbow_flex +- wrist_flex +- wrist_roll +- gripper +num_poses_target: 6 +cameras: +- '104122062574' +- '408322072302' +base_board_path: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/base_board.yaml +extrinsics_dir: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/cam_extrinsics +foundation_stereo_used: true +foundation_stereo_url: http://localhost:1234 +resolution: +- 1280 +- 720 +fps: 30 +joint_ranges_deg: +- - -30.0 + - 30.0 +- - -30.0 + - 30.0 +- - -30.0 + - 60.0 +- - -60.0 + - 60.0 +- - -90.0 + - 90.0 +- - 0.0 + - 50.0 +goto_delta_tolerance_deg: 15.0 +min_z_safety_m: 0.005 +gripper_min_z_safety_m: 0.02 +sag_offset_deg: +- 0.0 +- 5.0 +- 3.0 +- 0.0 +- 0.0 +- 0.0 +min_pose_dist_deg: 10.0 +urdf: /mnt/sda3/Hangxing/Code/hec3r_data_collect/so101/urdf/so101_old_calib.urdf +seed: null +started_at: '2026-05-07T17:52:20'